Devendra Chaplot Profile picture
Dec 3, 2021 6 tweets 4 min read Read on X
Presenting SEAL: Self-supervised Embodied Active Learning! #NeurIPS2021

SEAL is a self-supervised framework to close the action-perception loop. It improves perception & action models by just moving in the physical world w/o any human supervision.

devendrachaplot.github.io/projects/seal

1/N
SEAL consists of two phases, Action, where we learn an active exploration policy, and Perception, where we train the Perception Model on data gathered using the exploration policy and labels obtained using spatio-temporal label propagation.

2/N Image
Learning Action: We define an intrinsic motivation reward called Gainful Curiosity to train the active exploration policy to learn the behavior of maximizing exploration of objects with high confidence.

3/N
Learning Perception: We present a method called 3DLabelProp to obtain self-supervised labels from the 3D Semantic map. The set of observations and self-supervised labels are used to improve the object detection and instance segm performance from 34.8/32.5 to 41.2/37.3 AP50.

4/N
Improved Perception model in-turn leads to better Object-Goal Navigation: 54% -> 62% success rate by just moving around in training environments, without having access to any additional human annotations or map information.

5/N

• • •

Missing some Tweet in this thread? You can try to force a refresh
 

Keep Current with Devendra Chaplot

Devendra Chaplot Profile picture

Stay in touch and get notified when new unrolls are available from this author!

Read all threads

This Thread may be Removed Anytime!

PDF

Twitter may remove this content at anytime! Save it as PDF for later use!

Try unrolling a thread yourself!

how to unroll video
  1. Follow @ThreadReaderApp to mention us!

  2. From a Twitter thread mention us with a keyword "unroll"
@threadreaderapp unroll

Practice here first or read more on our help page!

Did Thread Reader help you today?

Support us! We are indie developers!


This site is made by just two indie developers on a laptop doing marketing, support and development! Read more about the story.

Become a Premium Member ($3/month or $30/year) and get exclusive features!

Become Premium

Don't want to be a Premium member but still want to support us?

Make a small donation by buying us coffee ($5) or help with server cost ($10)

Donate via Paypal

Or Donate anonymously using crypto!

Ethereum

0xfe58350B80634f60Fa6Dc149a72b4DFbc17D341E copy

Bitcoin

3ATGMxNzCUFzxpMCHL5sWSt4DVtS8UqXpi copy

Thank you for your support!

Follow Us!

:(