An immediately useful application of this is in roombas that can not just clean the floor but effectively avoid/move obstacles. All the vaccums i have gotten ge

An immediately useful application of this is in roombas that can not just clean the floor but effectively avoid/move obstacles. All the vaccums i have gotten generally get stuck or suck in paper/usb cables and get stuck in corners. There are two planning aspects here 1. Choosing a workflow(i.e. a series of general steps that can achieve a goal) 2. Generating low level policy actions given a state(i.e. sensor data). Like lets say the Workflow is to clean the room. Now there is a big chair in the way and a USB wire there too, the robot could just decide to move around the chair but it could pick up the wire and place it on the table and clean the area. Generating policy actions this way seems to be very much in line with simple VQA based things proposed in the paper, or so it would seem...