Object Representations for Learning and Reasoning

Thirty-fourth Conference on Neural Information Processing Systems (NeurIPS)

December 11, 2020, Virtual Workshop

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Learning Embeddings that Capture Spatial Semantics for Indoor Navigation

  • Vidhi Jain, Shishir Patil, Prakhar Agarwal, and Katia Sycara
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Incorporating domain-specific priors in search and navigation tasks has shown promising results in improving generalization and sample complexity over end-to-end trained policies. In this work, we study how object embeddings that capture spatial semantic priors can guide the search and navigation task in a structured environment. We know that humans can search for an object like a book, or a plate in an unseen house, based on spatial semantics of bigger objects detected. For example, a book is likely to be on a bookshelf or a table, whereas a plate is likely to be in a cupboard or dishwasher. We propose a method to incorporate such spatial semantic awareness in robots by leveraging pre-trained language models and multi-relational knowledge bases as object embeddings. We demonstrate the performance of using these object embeddings to search a query object in an unseen indoor environment. We measure the performance of these embeddings in an indoor simulator (AI2Thor). We further evaluate different pre-trained embedding on Success Rate (SR) and Success weighted by Path Length (SPL). Code is available at: https://github.com/vidhiJain/SpatialEmbeddings