Abstract

Embodied agents operating in human spaces must be able to master how their environment works: what objects can the agent use, and how can it use them? We introduce a reinforcement learning approach for exploration for interaction, whereby an embodied agent autonomously discovers the affordance landscape of a new unmapped 3D environment (such as an unfamiliar kitchen). Given an egocentric RGB-D camera and a high-level action space, the agent is rewarded for maximizing successful interactions while simultaneously training an image-based affordance segmentation model. The former yields a policy for acting efficiently in new environments to prepare for downstream interaction tasks, while the latter yields a convolutional neural network that maps image regions to the likelihood they permit each action, densifying the rewards for exploration. We demonstrate our idea with AI2-iTHOR. The results show agents can learn how to use new home environments intelligently and that it prepares them to rapidly address various downstream tasks like "find a knife and put it in the drawer."

Cite

If you find this work useful in your own research, please consider citing:
@inproceedings{interaction-exploration,
author = {Nagarajan, Tushar and Grauman, Kristen},
title = {Learning Affordance Landscapes for Interaction Exploration in 3D Environments},
booktitle = {NeurIPS},
year = {2020}
}