Sim-to-Real Transfer for Vision-and-Language Navigation

• URL: http://arxiv.org/abs/2011.03807v1
• Date: Sat, 7 Nov 2020 16:49:04 GMT
• Title: Sim-to-Real Transfer for Vision-and-Language Navigation
• Authors: Peter Anderson, Ayush Shrivastava, Joanne Truong, Arjun Majumdar, Devi Parikh, Dhruv Batra, Stefan Lee
• Abstract summary: We study the problem of releasing a robot in a previously unseen environment, and having it follow unconstrained natural language navigation instructions. Recent work on the task of Vision-and-Language Navigation (VLN) has achieved significant progress in simulation. To assess the implications of this work for robotics, we transfer a VLN agent trained in simulation to a physical robot.
• Score: 70.86250473583354
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: We study the challenging problem of releasing a robot in a previously unseen environment, and having it follow unconstrained natural language navigation instructions. Recent work on the task of Vision-and-Language Navigation (VLN) has achieved significant progress in simulation. To assess the implications of this work for robotics, we transfer a VLN agent trained in simulation to a physical robot. To bridge the gap between the high-level discrete action space learned by the VLN agent, and the robot's low-level continuous action space, we propose a subgoal model to identify nearby waypoints, and use domain randomization to mitigate visual domain differences. For accurate sim and real comparisons in parallel environments, we annotate a 325m2 office space with 1.3km of navigation instructions, and create a digitized replica in simulation. We find that sim-to-real transfer to an environment not seen in training is successful if an occupancy map and navigation graph can be collected and annotated in advance (success rate of 46.8% vs. 55.9% in sim), but much more challenging in the hardest setting with no prior mapping at all (success rate of 22.5%).

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