Publication

Embodied Amodal Recognition: Learning to Move to Perceive Objects

International Conference on Computer Vision (ICCV)


Abstract

Passive visual systems typically fail to recognize objects in the amodal setting where they are heavily occluded. In contrast, humans and other embodied agents have the ability to move in the environment and actively control the viewing angle to better understand object shapes and semantics. In this work, we introduce the task of Embodied Amodel Recognition (EAR): an agent is instantiated in a 3D environment close to an occluded target object, and is free to move in the environment to perform object classification, amodal object localization, and amodal object segmentation. To address this problem, we develop a new model called Embodied Mask R-CNN for agents to learn to move strategically to improve their visual recognition abilities. We conduct experiments using a simulator for indoor environments. Experimental results show that: 1) agents with embodiment (movement) achieve better visual recognition performance than passive ones and 2) in order to improve visual recognition abilities, agents can learn strategic paths that are different from shortest paths.

Related Publications

All Publications

Workshop on Online Abuse and Harms (WHOAH) at ACL - November 30, 2021

Findings of the WOAH 5 Shared Task on Fine Grained Hateful Memes Detection

Lambert Mathias, Shaoliang Nie, Bertie Vidgen, Aida Davani, Zeerak Waseem, Douwe Kiela, Vinodkumar Prabhakaran

Journal of Big Data - November 6, 2021

A graphical method of cumulative differences between two subpopulations

Mark Tygert

NeurIPS - December 6, 2021

Parallel Bayesian Optimization of Multiple Noisy Objectives with Expected Hypervolume Improvement

Samuel Daulton, Maximilian Balandat, Eytan Bakshy

arXiv - January 29, 2020

fastMRI: An Open Dataset and Benchmarks for Accelerated MRI

Jure Zbontar, Florian Knoll, Anuroop Sriram, Tullie Murrell, Zhengnan Huang, Matthew J. Muckley, Aaron Defazio, Ruben Stern, Patricia Johnson, Mary Bruno, Marc Parente, Krzysztof J. Geras, Joe Katsnelson, Hersh Chandarana, Zizhao Zhang, Michal Drozdzal, Adriana Romero, Michael Rabbat, Pascal Vincent, Nafissa Yakubova, James Pinkerton, Duo Wang, Erich Owens, Larry Zitnick, Michael P. Recht, Daniel K. Sodickson, Yvonne W. Lui

To help personalize content, tailor and measure ads, and provide a safer experience, we use cookies. By clicking or navigating the site, you agree to allow our collection of information on and off Facebook through cookies. Learn more, including about available controls: Cookie Policy