  We introduce SCOD (Sensory Commutativity Object Detection), an active method
for movable and immovable object detection. SCOD exploits the commutative
properties of action sequences, in the scenario of an embodied agent equipped
with first-person sensors and a continuous motor space with multiple degrees of
freedom. SCOD is based on playing an action sequence in two different orders
from the same starting point and comparing the two final observations obtained
after each sequence. Our experiments on 3D realistic robotic setups (iGibson)
demonstrate the accuracy of SCOD and its generalization to unseen environments
and objects. We also successfully apply SCOD on a real robot to further
illustrate its generalization properties. With SCOD, we aim at providing a
novel way of approaching the problem of object discovery in the context of a
naive embodied agent. We provide code and a supplementary video.
