自己中心視覚入力から人間の探索行動を学習する
Learning Human Search Behavior from Egocentric Visual Inputs
RGBDの自己中心視覚のみを持つキャラクタが3D屋内環境で目標物体を探索できるよう、探索制御ポリシーとオンライン再計画モジュールを組み合わせて学習させた研究。
著者: Maks Sorokin, Wenhao Yu, Sehoon Ha, C. Karen Liu
分類: cs.RO, cs.GR
原文アブストラクト
"Looking for things" is a mundane but critical task we repeatedly carry on in our daily life. We introduce a method to develop a human character capable of searching for a randomly located target object in a detailed 3D scene using its locomotion capability and egocentric vision perception represented as RGBD images. By depriving the privileged 3D information from the human character, it is forced to move and look around simultaneously to account for the restricted sensing capability, resulting in natural navigation and search behaviors. Our method consists of two components: 1) a search control policy based on an abstract character model, and 2) an online replanning control module for synthesizing detailed kinematic motion based on the trajectories planned by the search policy. We demonstrate that the combined techniques enable the character to effectively find often occluded household items in indoor environments. The same search policy can be applied to different full-body characters without the need for retraining. We evaluate our method quantitatively by testing it on randomly generated scenarios. Our work is a first step toward creating intelligent virtual agents with humanlike behaviors driven by onboard sensors, paving the road toward future robotic applications.
