# Embodied Agents for Efficient Exploration and Smart Scene Description

arXiv: https://arxiv.org/abs/2301.07150 · HTML: https://mlsanity.com/paper/2301.07150/

## Key facts

- Cited by 6 papers in the map (data through 14 Oct 2026).
- Builds on 49 of its 62 references that are in the map.
- First posted on arXiv 17 Jan 2023.

## Builds on (most cited first, 30 of 49)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [U-Net: Convolutional Networks for Biomedical Image Segmentation](https://mlsanity.com/paper/1505.04597/) (2015)
- [Microsoft COCO: Common Objects in Context](https://mlsanity.com/paper/1405.0312/) (2014)
- [Proximal Policy Optimization Algorithms](https://mlsanity.com/paper/1707.06347/) (2017)
- [Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networks](https://mlsanity.com/paper/1506.01497/) (2015)
- [CLIPScore: A Reference-free Evaluation Metric for Image Captioning](https://mlsanity.com/paper/2104.08718/) (2021)
- [CIDEr: Consensus-based Image Description Evaluation](https://mlsanity.com/paper/1411.5726/) (2014)
- [Show, Attend and Tell: Neural Image Caption Generation with Visual Attention](https://mlsanity.com/paper/1502.03044/) (2015)
- [Matterport3D: Learning from RGB-D Data in Indoor Environments](https://mlsanity.com/paper/1709.06158/) (2017)
- [Bottom-Up and Top-Down Attention for Image Captioning and Visual Question Answering](https://mlsanity.com/paper/1707.07998/) (2017)
- [Conceptual 12M: Pushing Web-Scale Image-Text Pre-Training To Recognize Long-Tail Visual Concepts](https://mlsanity.com/paper/2102.08981/) (2021)
- [Oscar: Object-Semantics Aligned Pre-training for Vision-Language Tasks](https://mlsanity.com/paper/2004.06165/) (2020)
- [Curiosity-driven Exploration by Self-supervised Prediction](https://mlsanity.com/paper/1705.05363/) (2017)
- [Habitat: A Platform for Embodied AI Research](https://mlsanity.com/paper/1904.01201/) (2019)
- [Vision-and-Language Navigation: Interpreting visually-grounded navigation instructions in real environments](https://mlsanity.com/paper/1711.07280/) (2017)
- [Deep Visual-Semantic Alignments for Generating Image Descriptions](https://mlsanity.com/paper/1412.2306/) (2014)
- [SPICE: Semantic Propositional Image Caption Evaluation](https://mlsanity.com/paper/1607.08822/) (2016)
- [Large Batch Optimization for Deep Learning: Training BERT in 76 minutes](https://mlsanity.com/paper/1904.00962/) (2019)
- [Self-critical Sequence Training for Image Captioning](https://mlsanity.com/paper/1612.00563/) (2016)
- [Gibson Env: Real-World Perception for Embodied Agents](https://mlsanity.com/paper/1808.10654/) (2018)
- [Beyond the Nav-Graph: Vision-and-Language Navigation in Continuous Environments](https://mlsanity.com/paper/2004.02857/) (2020)
- [Object Goal Navigation using Goal-Oriented Semantic Exploration](https://mlsanity.com/paper/2007.00643/) (2020)
- [DD-PPO: Learning Near-Perfect PointGoal Navigators from 2.5 Billion Frames](https://mlsanity.com/paper/1911.00357/) (2019)
- [Meshed-Memory Transformer for Image Captioning](https://mlsanity.com/paper/1912.08226/) (2019)
- [Embodied Question Answering](https://mlsanity.com/paper/1711.11543/) (2017)
- [Learning to Explore using Active Neural SLAM](https://mlsanity.com/paper/2004.05155/) (2020)
- [Attention on Attention for Image Captioning](https://mlsanity.com/paper/1908.06954/) (2019)

## Built on by (most cited first, 6 of 6)

- [Symbol-LLM: Towards Foundational Symbol-centric Interface For Large Language Models](https://mlsanity.com/paper/2311.09278/) (2023)
- [Personalized Instance-based Navigation Toward User-Specific Objects in Realistic Environments](https://mlsanity.com/paper/2410.18195/) (2024)
- [Explore and Tell: Embodied Visual Captioning in 3D Environments](https://mlsanity.com/paper/2308.10447/) (2023)
- [Mapping High-level Semantic Regions in Indoor Environments without Object Recognition](https://mlsanity.com/paper/2403.07076/) (2024)
- [AIGeN: An Adversarial Approach for Instruction Generation in VLN](https://mlsanity.com/paper/2404.10054/) (2024)
- [Embodied Image Captioning: Self-supervised Learning Agents for Spatially Coherent Image Descriptions](https://mlsanity.com/paper/2504.08531/) (2025)

## Abstract (arXiv)

The development of embodied agents that can communicate with humans in natural language has gained increasing interest over the last years, as it facilitates the diffusion of robotic platforms in human-populated environments. As a step towards this objective, in this work, we tackle a setting for visual navigation in which an autonomous agent needs to explore and map an unseen indoor environment while portraying interesting scenes with natural language descriptions. To this end, we propose and evaluate an approach that combines recent advances in visual robotic exploration and image captioning on images generated through agent-environment interaction. Our approach can generate smart scene descriptions that maximize semantic knowledge of the environment and avoid repetitions. Further, such descriptions offer user-understandable insights into the robot's representation of the environment by highlighting the prominent objects and the correlation between them as encountered during the exploration. To quantitatively assess the performance of the proposed approach, we also devise a specific score that takes into account both exploration and description skills. The experiments carried out on both photorealistic simulated environments and real-world ones demonstrate that our approach can effectively describe the robot's point of view during exploration, improving the human-friendly interpretability of its observations.