Learning Affordance Landscapes for Interaction Exploration in 3D Environments

• URL: http://arxiv.org/abs/2008.09241v2
• Date: Mon, 19 Oct 2020 02:44:08 GMT
• Title: Learning Affordance Landscapes for Interaction Exploration in 3D Environments
• Authors: Tushar Nagarajan and Kristen Grauman
• Abstract summary: Embodied agents must be able to master how their environment works. We introduce a reinforcement learning approach for exploration for interaction. We demonstrate our idea with AI2-iTHOR.
• Score: 101.90004767771897
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Embodied agents operating in human spaces must be able to master how their environment works: what objects can the agent use, and how can it use them? We introduce a reinforcement learning approach for exploration for interaction, whereby an embodied agent autonomously discovers the affordance landscape of a new unmapped 3D environment (such as an unfamiliar kitchen). Given an egocentric RGB-D camera and a high-level action space, the agent is rewarded for maximizing successful interactions while simultaneously training an image-based affordance segmentation model. The former yields a policy for acting efficiently in new environments to prepare for downstream interaction tasks, while the latter yields a convolutional neural network that maps image regions to the likelihood they permit each action, densifying the rewards for exploration. We demonstrate our idea with AI2-iTHOR. The results show agents can learn how to use new home environments intelligently and that it prepares them to rapidly address various downstream tasks like "find a knife and put it in the drawer." Project page: http://vision.cs.utexas.edu/projects/interaction-exploration/

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