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.
翻译:我们引入了可移动和不可移动物体探测的有效方法SCOD(感官通信物体探测);SCOD在装有第一人传感器和具有多度自由的连续运动空间的内装剂的情况下,利用动作序列的通量性;SCOD基于从同一起点以两个不同顺序播放动作序列,并比较每个序列后最后的两次观测结果;我们关于3D现实机器人装置的实验(iGibson)表明SCOD的准确性及其对看不见的环境和物体的普及性;我们还成功地将SCOD应用到一个真正的机器人上,以进一步说明其一般特性;我们与SCOD一道,旨在提供一种新颖的方法,在天体装剂的情况下处理物体发现问题;我们提供了代码和补充视频。