Seeing the Un-Scene: Learning Amodal Semantic Maps for Room Navigation

European Conference on Computer Vision (ECCV)


We introduce a learning-based approach for room navigation using semantic maps. Our proposed architecture learns to predict top-down belief maps of regions that lie beyond the agent’s field of view while modeling architectural and stylistic regularities in houses. First, we train a model to generate amodal semantic top-down maps indicating beliefs of location, size, and shape of rooms by learning the underlying architectural patterns in houses. Next, we use these maps to predict a point that lies in the target room and train a policy to navigate to the point. We empirically demonstrate that by predicting semantic maps, the model learns common correlations found in houses and generalizes to novel environments. We also demonstrate that reducing the task of room navigation to point navigation improves the performance further. We will make our code publicly available and hope our work paves the way for further research in this space.

Related Publications

All Publications

arxiv - November 1, 2020

The Hateful Memes Challenge: Detecting Hate Speech in Multimodal Memes

Douwe Kiela, Hamed Firooz, Aravind Mohan, Vedanuj Goswami, Amanpreet Singh, Pratik Ringshia, Davide Testuggine

ICML - July 18, 2021

Barlow Twins: Self-Supervised Learning via Redundancy Reduction

Jure Zbontar, Li Jing, Ishan Misra, Yann LeCun, Stéphane Deny

arXiv - June 16, 2021

XCiT: Cross-Covariance Image Transformers

Alaaeldin El-Nouby, Hugo Touvron, Mathilde Caron, Piotr Bojanowski, Matthijs Douze, Armand Joulin, Ivan Laptev, Natalia Neverova, Gabriel Synnaeve, Jakob Verbeek, Hervé Jégou

arXiv - June 23, 2021

Shelf-Supervised Mesh Prediction in the Wild

Yufei Ye, Shubham Tulsiani, Abhinav Gupta

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