A Simple Approach for Visual Room Rearrangement: 3D Mapping and Semantic SearchDownload PDF

Published: 01 Feb 2023, Last Modified: 02 Mar 2023ICLR 2023 posterReaders: Everyone
Keywords: Embodied AI, Deep Learning, Object Rearrangement
TL;DR: A System For Exploring A Scene, Mapping Objects, and Rearranging Objects To A Visual Goal
Abstract: Physically rearranging objects is an important capability for embodied agents. Visual room rearrangement evaluates an agent's ability to rearrange objects in a room to a desired goal based solely on visual input. We propose a simple yet effective method for this problem: (1) search for and map which objects need to be rearranged, and (2) rearrange each object until the task is complete. Our approach consists of an off-the-shelf semantic segmentation model, voxel-based semantic map, and semantic search policy to efficiently find objects that need to be rearranged. Our method was the winning submission to the AI2-THOR Rearrangement Challenge in the 2022 Embodied AI Workshop at CVPR 2022, and improves on current state-of-the-art end-to-end reinforcement learning-based methods that learn visual room rearrangement policies from 0.53% correct rearrangement to 16.56%, using only 2.7% as many samples from the environment.
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