Fetching the paper…

Reading the bibliography…

2021

Learning Embeddings that Capture Spatial Semantics for Indoor Navigation

Jain, Vidhi, Agarwal, Prakhar, Patil, Shishir et al.

Original
PDF
Post on X

Understand

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 search and navigation tasks 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 the 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.

Learning Embeddings that Capture Spatial Semantics for Indoor Navigation · Around

Built on

Efficient estimation of word representations in vector space, 2013
Tomas Mikolov, Kai Chen, Greg Corrado, and Jeffrey Dean · 2013
Earlier work this paper cites.
Deepwalk: Online learning of social representations
Bryan Perozzi, Rami Al-Rfou, and Steven Skiena · 2014
Earlier work this paper cites.
Enriching word vectors with subword information
Original
Piotr Bojanowski, Edouard Grave, Armand Joulin, and Tomas Mikolov · 2016
Earlier work this paper cites.

Similar

Analogical inference for multi-relational embeddings
Original
Hanxiao Liu, Yuexin Wu, and Yiming Yang · 2017
Cited alongside, same era.
Visual semantic navigation using scene priors
Original
Wei Yang, Xiaolong Wang, Ali Farhadi, Abhinav Gupta, and Roozbeh Mottaghi · 2018
Cited alongside, same era.
Robocse: Robot common sense embedding, 2019
Angel Daruna, Weiyu Liu, Zsolt Kira, and Sonia Chernova · 2019
Cited alongside, same era.

Then

Where are the keys? – learning object-centric navigation policies on semantic maps with graph convolutional networks, 2019
Niko Sünderhauf · 2019
Later among the works it cites.
RoboTHOR: An Open Simulation-to-Real Embodied AI Platform
Matt Deitke, Winson Han, Alvaro Herrasti, Aniruddha Kembhavi, Eric Kolve, Roozbeh Mottaghi, Jordi Salvador, Dustin Schwenk, Eli VanderBilt, Matthew Wallingford, Luca Weihs, Mark Yatskar, and Ali Farhadi · 2020
Later among the works it cites.
Object goal navigation using goal-oriented semantic exploration, 2020
Devendra Singh Chaplot, Dhiraj Gandhi, Abhinav Gupta, and Ruslan Salakhutdinov · 2020
Later among the works it cites.

Beyond the bibliography

alphaXiv searches the wider corpus for related work and actual follow-ups.

Open on alphaXiv

alphaXiv is searching for related work…