Language-Based Augmentation to Address Shortcut Learning in Object Goal Navigation
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arXiv
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| Auteurs principaux: | , , |
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| Format: | Preprint |
| Publié: |
2024
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| _version_ | 1866913226166370304 |
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| author | Hoftijzer, Dennis Burghouts, Gertjan Spreeuwers, Luuk |
| author_facet | Hoftijzer, Dennis Burghouts, Gertjan Spreeuwers, Luuk |
| contents | Deep Reinforcement Learning (DRL) has shown great potential in enabling robots to find certain objects (e.g., `find a fridge') in environments like homes or schools. This task is known as Object-Goal Navigation (ObjectNav). DRL methods are predominantly trained and evaluated using environment simulators. Although DRL has shown impressive results, the simulators may be biased or limited. This creates a risk of shortcut learning, i.e., learning a policy tailored to specific visual details of training environments. We aim to deepen our understanding of shortcut learning in ObjectNav, its implications and propose a solution. We design an experiment for inserting a shortcut bias in the appearance of training environments. As a proof-of-concept, we associate room types to specific wall colors (e.g., bedrooms with green walls), and observe poor generalization of a state-of-the-art (SOTA) ObjectNav method to environments where this is not the case (e.g., bedrooms with blue walls). We find that shortcut learning is the root cause: the agent learns to navigate to target objects, by simply searching for the associated wall color of the target object's room. To solve this, we propose Language-Based (L-B) augmentation. Our key insight is that we can leverage the multimodal feature space of a Vision-Language Model (VLM) to augment visual representations directly at the feature-level, requiring no changes to the simulator, and only an addition of one layer to the model. Where the SOTA ObjectNav method's success rate drops 69%, our proposal has only a drop of 23%. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2402_05090 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Language-Based Augmentation to Address Shortcut Learning in Object Goal Navigation Hoftijzer, Dennis Burghouts, Gertjan Spreeuwers, Luuk Robotics Computer Vision and Pattern Recognition Deep Reinforcement Learning (DRL) has shown great potential in enabling robots to find certain objects (e.g., `find a fridge') in environments like homes or schools. This task is known as Object-Goal Navigation (ObjectNav). DRL methods are predominantly trained and evaluated using environment simulators. Although DRL has shown impressive results, the simulators may be biased or limited. This creates a risk of shortcut learning, i.e., learning a policy tailored to specific visual details of training environments. We aim to deepen our understanding of shortcut learning in ObjectNav, its implications and propose a solution. We design an experiment for inserting a shortcut bias in the appearance of training environments. As a proof-of-concept, we associate room types to specific wall colors (e.g., bedrooms with green walls), and observe poor generalization of a state-of-the-art (SOTA) ObjectNav method to environments where this is not the case (e.g., bedrooms with blue walls). We find that shortcut learning is the root cause: the agent learns to navigate to target objects, by simply searching for the associated wall color of the target object's room. To solve this, we propose Language-Based (L-B) augmentation. Our key insight is that we can leverage the multimodal feature space of a Vision-Language Model (VLM) to augment visual representations directly at the feature-level, requiring no changes to the simulator, and only an addition of one layer to the model. Where the SOTA ObjectNav method's success rate drops 69%, our proposal has only a drop of 23%. |
| title | Language-Based Augmentation to Address Shortcut Learning in Object Goal Navigation |
| topic | Robotics Computer Vision and Pattern Recognition |
| url | https://arxiv.org/abs/2402.05090 |