Publication

Embodied Question Answering in Photorealistic Environments with Point Cloud Perception

Conference Computer Vision and Pattern Recognition (CVPR)


Abstract

To help bridge the gap between internet vision-style problems and the goal of vision for embodied perception we instantiate a large-scale navigation task – Embodied Question Answering [1] in photo-realistic environments (Matterport 3D). We thoroughly study navigation policies that utilize 3D point clouds, RGB images, or their combination. Our analysis of these models reveals several key findings. We find that two seemingly naive navigation baselines, forward-only and random, are strong navigators and challenging to outperform, due to the specific choice of the evaluation setting presented by [1]. We find a novel loss-weighting scheme we call Inflection Weighting to be important when training recurrent models for navigation with behavior cloning and are able to out perform the baselines with this technique. We find that point clouds provide a richer signal than RGB images for learning obstacle avoidance, motivating the use (and continued study) of 3D deep learning models for embodied navigation.

Related Publications

All Publications

MICCAI - October 5, 2020

Active MR k-space Sampling with Reinforcement Learning

Luis Pineda, Sumana Basu, Adriana Romero, Roberto Calandra, Michal Drozdzal

Multimodal Video Analysis Workshop at ECCV - August 23, 2020

Audio-Visual Instance Discrimination

Pedro Morgado, Nuno Vasconcelos, Ishan Misra

ICML - November 3, 2020

Learning Near Optimal Policies with Low Inherent Bellman Error

Andrea Zanette, Alessandro Lazaric, Mykel J. Kochenderfer, Emma Brunskill

AISTATS - November 3, 2020

A single algorithm for both restless and rested rotting bandits

Julien Seznec, Pierre Menard, Alessandro Lazaric, Michal Valko

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: Cookies Policy