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ROBERTO BIGAZZI
Assegnista di ricerca
Dipartimento di Ingegneria "Enzo Ferrari"
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Pubblicazioni
2024
- AIGeN: An Adversarial Approach for Instruction Generation in VLN
[Relazione in Atti di Convegno]
Rawal, Niyati; Bigazzi, Roberto; Baraldi, Lorenzo; Cucchiara, Rita
abstract
2024
- Mapping High-level Semantic Regions in Indoor Environments without Object Recognition
[Relazione in Atti di Convegno]
Bigazzi, Roberto; Baraldi, Lorenzo; Kousik, Shreyas; Cucchiara, Rita; Pavone, Marco
abstract
2023
- Embodied Agents for Efficient Exploration and Smart Scene Description
[Relazione in Atti di Convegno]
Bigazzi, Roberto; Cornia, Marcella; Cascianelli, Silvia; Baraldi, Lorenzo; Cucchiara, Rita
abstract
2023
- Towards Explainable Navigation and Recounting
[Relazione in Atti di Convegno]
Poppi, Samuele; Rawal, Niyati; Bigazzi, Roberto; Cornia, Marcella; Cascianelli, Silvia; Baraldi, Lorenzo; Cucchiara, Rita
abstract
Explainability and interpretability of deep neural networks have become of crucial importance over the years in Computer Vision, concurrently with the need to understand increasingly complex models. This necessity has fostered research on approaches that facilitate human comprehension of neural methods. In this work, we propose an explainable setting for visual navigation, in which an autonomous agent needs to explore an unseen indoor environment while portraying and explaining interesting scenes with natural language descriptions. We combine recent advances in ongoing research fields, employing an explainability method on images generated through agent-environment interaction. Our approach uses explainable maps to visualize model predictions and highlight the correlation between the observed entities and the generated words, to focus on prominent objects encountered during the environment exploration. The experimental section demonstrates that our approach can identify the regions of the images that the agent concentrates on to describe its point of view, improving explainability.
2022
- Embodied Navigation at the Art Gallery
[Relazione in Atti di Convegno]
Bigazzi, Roberto; Landi, Federico; Cascianelli, Silvia; Cornia, Marcella; Baraldi, Lorenzo; Cucchiara, Rita
abstract
Embodied agents, trained to explore and navigate indoor photorealistic environments, have achieved impressive results on standard datasets and benchmarks. So far, experiments and evaluations have involved domestic and working scenes like offices, flats, and houses. In this paper, we build and release a new 3D space with unique characteristics: the one of a complete art museum. We name this environment ArtGallery3D (AG3D). Compared with existing 3D scenes, the collected space is ampler, richer in visual features, and provides very sparse occupancy information. This feature is challenging for occupancy-based agents which are usually trained in crowded domestic environments with plenty of occupancy information. Additionally, we annotate the coordinates of the main points of interest inside the museum, such as paintings, statues, and other items. Thanks to this manual process, we deliver a new benchmark for PointGoal navigation inside this new space. Trajectories in this dataset are far more complex and lengthy than existing ground-truth paths for navigation in Gibson and Matterport3D. We carry on extensive experimental evaluation using our new space for evaluation and prove that existing methods hardly adapt to this scenario. As such, we believe that the availability of this 3D model will foster future research and help improve existing solutions.
2022
- Focus on Impact: Indoor Exploration with Intrinsic Motivation
[Articolo su rivista]
Bigazzi, Roberto; Landi, Federico; Cascianelli, Silvia; Baraldi, Lorenzo; Cornia, Marcella; Cucchiara, Rita
abstract
2022
- Spot the Difference: A Novel Task for Embodied Agents in Changing Environments
[Relazione in Atti di Convegno]
Landi, Federico; Bigazzi, Roberto; Cornia, Marcella; Cascianelli, Silvia; Baraldi, Lorenzo; Cucchiara, Rita
abstract
2021
- Explore and Explain: Self-supervised Navigation and Recounting
[Relazione in Atti di Convegno]
Bigazzi, Roberto; Landi, Federico; Cornia, Marcella; Cascianelli, Silvia; Baraldi, Lorenzo; Cucchiara, Rita
abstract
Embodied AI has been recently gaining attention as it aims to foster the development of autonomous and intelligent agents. In this paper, we devise a novel embodied setting in which an agent needs to explore a previously unknown environment while recounting what it sees during the path. In this context, the agent needs to navigate the environment driven by an exploration goal, select proper moments for description, and output natural language descriptions of relevant objects and scenes. Our model integrates a novel self-supervised exploration module with penalty, and a fully-attentive captioning model for explanation. Also, we investigate different policies for selecting proper moments for explanation, driven by information coming from both the environment and the navigation. Experiments are conducted on photorealistic environments from the Matterport3D dataset and investigate the navigation and explanation capabilities of the agent as well as the role of their interactions.
2021
- Out of the Box: Embodied Navigation in the Real World
[Relazione in Atti di Convegno]
Bigazzi, Roberto; Landi, Federico; Cornia, Marcella; Cascianelli, Silvia; Baraldi, Lorenzo; Cucchiara, Rita
abstract
The research field of Embodied AI has witnessed substantial progress in visual navigation and exploration thanks to powerful simulating platforms and the availability of 3D data of indoor and photorealistic environments. These two factors have opened the doors to a new generation of intelligent agents capable of achieving nearly perfect PointGoal Navigation. However, such architectures are commonly trained with millions, if not billions, of frames and tested in simulation. Together with great enthusiasm, these results yield a question: how many researchers will effectively benefit from these advances?
In this work, we detail how to transfer the knowledge acquired in simulation into the real world. To that end, we describe the architectural discrepancies that damage the Sim2Real adaptation ability of models trained on the Habitat simulator and propose a novel solution tailored towards the deployment in real-world scenarios. We then deploy our models on a LoCoBot, a Low-Cost Robot equipped with a single Intel RealSense camera. Different from previous work, our testing scene is unavailable to the agent in simulation. The environment is also inaccessible to the agent beforehand, so it cannot count on scene-specific semantic priors. In this way, we reproduce a setting in which a research group (potentially from other fields) needs to employ the agent visual navigation capabilities as-a-Service. Our experiments indicate that it is possible to achieve satisfying results when deploying the obtained model in the real world.