Tata Consultancy Services Limited

Gulshan Kumar

Brojeshwar Bhowmick

Sai Shankar Narasimhan

Madhava Krishna Krishnan

Snehasis Banerjee

Ruddra Dev Roychoudhury

Kritika Anand

Himansu Didwania

A model for semantic navigation for service robots to find out-of-view objects in an indoor environment is provided. Initially, the system receives a target object to be reached by the mobile robot in the indoor environment. Further, a current location of the mobile robot is identified by a localization technique. An embedding corresponding to each of a plurality of visible regions is computed using a pretrained Graph Neural Network GNN. The GNN is pretrained using a trajectory data and a spatial relationship graph associated with the indoor environment. Further, a similarity score is computed for each of the plurality of visible regions based on the corresponding embedding using a scoring technique. An optimal visible region is identified by comparing the similarity score. Finally, a next action to be taken by the mobile robot selected from a plurality of actions based on the optimal visible region.

Method and system for semantic navigation using spatial graph and trajectory history

In state of the art methods for object goal navigation, scene understanding is implicit in their goal oriented exploration policies. Implicit scene understanding coupled with navigation is shown to be specific to tasks for which training is done and not generalizable to new tasks. Thus, embodiments of present disclosure propose a method of goal-conditioned exploration wherein scene understanding is decoupled from the exploration policies. Here, the scene understanding required for navigation is provided by a region classification network that is trained using semantic graphs representing the scene and agent can be navigated towards the goal either by using any state of the art pure exploration policies or by traversing through potential sub-goals identified based on a Co-occurrence Likelihood score calculated by using predictions from the region classification network. Hence, the method of present disclosure can be easily generalized to new tasks and new environments.

Methods and system for goal-conditioned exploration for object goal navigation

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Hyderabad Telangana, India

Gulshan Kumar