Spatial Relation Graph and Graph Convolutional Network for Object Goal Navigation

D. A. Sasi Kiran, Kritika Anand, Chaitanya Kharyal, Gulshan Kumar, Nandiraju Gireesh, Snehasis Banerjee, Ruddra Dev Roychoudhury, Mohan Sridharan, Brojeshwar Bhowmick, Madhava Krishna

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract / Description of output

This paper describes a framework for the object-goal navigation (ObjectNav) task, which requires a robot to find and move to an instance of a target object class from a random starting position. The framework uses a history of robot trajectories to learn a Spatial Relational Graph (SRG) and Graph Convolutional Network (GCN)-based embeddings for the likelihood of proximity of different semantically-labeled regions and the occurrence of different object classes in these regions. To locate a target object instance during evaluation, the robot uses Bayesian inference and the SRG to estimate the visible regions, and uses the learned GCN embeddings to rank visible regions and select the region to explore next. This approach is tested using the Matterport3D (MP3D) benchmark dataset of indoor scenes in AI Habitat, a visually realistic simulation environment, to report substantial performance improvement in comparison with state of the art baselines.

Original languageEnglish
Title of host publication2022 IEEE 18th International Conference on Automation Science and Engineering, CASE 2022
PublisherIEEE Computer Society Press
Pages1392-1398
Number of pages7
ISBN (Electronic)9781665490429
DOIs
Publication statusPublished - 28 Oct 2022
Event18th IEEE International Conference on Automation Science and Engineering, CASE 2022 - Mexico City, Mexico
Duration: 20 Aug 202224 Aug 2022

Publication series

NameIEEE International Conference on Automation Science and Engineering
Volume2022-August
ISSN (Print)2161-8070
ISSN (Electronic)2161-8089

Conference

Conference18th IEEE International Conference on Automation Science and Engineering, CASE 2022
Country/TerritoryMexico
CityMexico City
Period20/08/2224/08/22

Keywords / Materials (for Non-textual outputs)

  • Cognitive Robotics
  • Graph Convolutional Networks (GCN)
  • Node Embeddings
  • Semantic Object Navigation

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