DeepAI AI Chat
Log In Sign Up

Find a Way Forward: a Language-Guided Semantic Map Navigator

03/07/2022
by   Zehao Wang, et al.
KU Leuven
0

This paper attacks the problem of language-guided navigation in a new perspective by using novel semantic navigation maps, which enables robots to carry out natural language instructions and move to a target position based on the map observations. We break down this problem into parts and introduce three different modules to solve the corresponding subproblems. Our approach leverages map information to provide Deterministic Path Candidate Proposals to reduce the solution space. Different from traditional methods that predict robots' movements toward the target step-by-step, we design an attention-based Language Driven Discriminator to evaluate path candidates and determine the best path as the final result. To represent the map observations along a path for a better modality alignment, a novel Path Feature Encoding scheme tailored for semantic navigation maps is proposed. Unlike traditional methods that tend to produce cumulative errors or be stuck in local decisions, our method which plans paths based on global information can greatly alleviate these problems. The proposed approach has noticeable performance gains, especially in long-distance navigation cases. Also, its training efficiency is significantly higher than of other methods.

READ FULL TEXT

page 1

page 3

02/08/2022

Navigating to Objects in Unseen Environments by Distance Prediction

Object Goal Navigation (ObjectNav) task is to navigate an agent to an ob...
06/12/2022

Imagination-augmented Navigation Based on 2D Laser Sensor Observations

Autonomous navigation of mobile robots is an essential task for various ...
07/24/2023

GridMM: Grid Memory Map for Vision-and-Language Navigation

Vision-and-language navigation (VLN) enables the agent to navigate to a ...
12/09/2020

Topological Planning with Transformers for Vision-and-Language Navigation

Conventional approaches to vision-and-language navigation (VLN) are trai...
12/31/2018

Path-Invariant Map Networks

Optimizing a network of maps among a collection of objects/domains (or m...
11/18/2019

Simultaneous Mapping and Target Driven Navigation

This work presents a modular architecture for simultaneous mapping and t...
04/21/2021

Semantic Navigation Using Building Information on Construction Sites

With the growth in automated data collection of construction projects, t...