SCOD: 行動系列の感覚可換性を利用した身体性エージェントの能動的物体検出
SCOD: Active Object Detection for Embodied Agents using Sensory Commutativity of Action Sequences
同じ開始点から行動系列を異なる順序で実行し、最終観測を比較することで可動・不可動物体を検出する能動的手法SCODを提案。3Dロボット環境と実機で精度と汎化性を実証した。
著者: Hugo Caselles-Dupré, Michael Garcia-Ortiz, David Filliat
分類: cs.LG, cs.RO
原文アブストラクト
We introduce SCOD (Sensory Commutativity Object Detection), an active method for movable and immovable object detection. SCOD exploits the commutative properties of action sequences, in the scenario of an embodied agent equipped with first-person sensors and a continuous motor space with multiple degrees of freedom. SCOD is based on playing an action sequence in two different orders from the same starting point and comparing the two final observations obtained after each sequence. Our experiments on 3D realistic robotic setups (iGibson) demonstrate the accuracy of SCOD and its generalization to unseen environments and objects. We also successfully apply SCOD on a real robot to further illustrate its generalization properties. With SCOD, we aim at providing a novel way of approaching the problem of object discovery in the context of a naive embodied agent. We provide code and a supplementary video.
