家庭環境の変化に対する支援ロボット向けマルチモーダルモデルのロバスト性評価
Robustness Testing of Multi-Modal Models in Varied Home Environments for Assistive Robots
AI2Thor仮想環境で照明暗転や鏡壁などの攪乱を加え、支援ロボット用マルチモーダルモデルの物体認識や移動への影響を評価する研究。
著者: Lea Hirlimann, Shengqiang Zhang, Hinrich Schütze, Philipp Wicke
分類: cs.RO
原文アブストラクト
The development of assistive robotic agents to support household tasks is advancing, yet the underlying models often operate in virtual settings that do not reflect real-world complexity. For assistive care robots to be effective in diverse environments, their models must be robust and integrate multiple modalities. Consider a caretaker needing assistance in a dimly lit room or navigating around a newly installed glass door. Models relying solely on visual input might fail in low light, while those using depth information could avoid the door. This demonstrates the necessity for models that can process various sensory inputs. Our ongoing study evaluates state-of-the-art robotic models in the AI2Thor virtual environment. We introduce disturbances, such as dimmed lighting and mirrored walls, to assess their impact on modalities like movement or vision, and object recognition. Our goal is to gather input from the Geriatronics community to understand and model the challenges faced by practitioners.
