Which way to the fridge? Common sense helps robots navigate
Winning strategy speeds up robotic searches

Date:
July 20, 2020
Source:
Carnegie Mellon University
Summary:
A robot travelling from point A to point B is more efficient if it
understands that point A is the living room couch and point B is
a refrigerator. That's the common sense idea behind a 'semantic'
navigation system.



FULL STORY ==========================================================================
A robot travelling from point A to point B is more efficient if it
understands that point A is the living room couch and point B is a refrigerator, even if it's in an unfamiliar place. That's the common
sense idea behind a "semantic" navigation system developed by Carnegie
Mellon University and Facebook AI Research (FAIR).


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That navigation system, called SemExp, last month won the Habitat
ObjectNav Challenge during the virtual Computer Vision and Pattern
Recognition conference, edging a team from Samsung Research China. It
was the second consecutive first-place finish for the CMU team in the
annual challenge.

SemExp, or Goal-Oriented Semantic Exploration, uses machine learning to
train a robot to recognize objects -- knowing the difference between a
kitchen table and an end table, for instance -- and to understand where
in a home such objects are likely to be found. This enables the system
to think strategically about how to search for something, said Devendra
S. Chaplot, a Ph.D. student in CMU's Machine Learning Department.

"Common sense says that if you're looking for a refrigerator, you'd better
go to the kitchen," Chaplot said. Classical robotic navigation systems, by contrast, explore a space by building a map showing obstacles. The robot eventually gets to where it needs to go, but the route can be circuitous.

Previous attempts to use machine learning to train semantic navigation
systems have been hampered because they tend to memorize objects and
their locations in specific environments. Not only are these environments complex, but the system often has difficulty generalizing what it has
learned to different environments.

Chaplot -- working with FAIR's Dhiraj Gandhi, along with Abhinav Gupta, associate professor in the Robotics Institute, and Ruslan Salakhutdinov, professor in the Machine Learning Department -- sidestepped that problem
by making SemExp a modular system.

The system uses its semantic insights to determine the best places to
look for a specific object, Chaplot said. "Once you decide where to go,
you can just use classical planning to get you there." This modular
approach turns out to be efficient in several ways. The learning process
can concentrate on relationships between objects and room layouts, rather
than also learning route planning. The semantic reasoning determines the
most efficient search strategy. Finally, classical navigation planning
gets the robot where it needs to go as quickly as possible.

Semantic navigation ultimately will make it easier for
people to interact with robots, enabling them to simply tell
the robot to fetch an item in a particular place, or give it
directions such as "go to the second door on the left." Video: https://www.youtube.com/watch?v=FhIut4bqFyw&feature=emb_logo

========================================================================== Story Source: Materials provided by Carnegie_Mellon_University. Original written by Byron Spice. Note: Content may be edited for style and length.


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Link to news story: https://www.sciencedaily.com/releases/2020/07/200720093236.htm

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