SpatialSim: Recognizing Spatial Configurations of Objects With Graph Neural Networks.

An embodied, autonomous agent able to set its own goals has to possess geometrical reasoning abilities for judging whether its goals have been achieved, namely it should be able to identify and discriminate classes of configurations of objects, irrespective of its point of view on the scene. However, this problem has received little attention so far in the deep learning literature. In this paper we make two key contributions.