Rapid Exploration for Open-World Navigation with Latent Goal Models

• URL: http://arxiv.org/abs/2104.05859v5
• Date: Wed, 11 Oct 2023 09:07:01 GMT
• Title: Rapid Exploration for Open-World Navigation with Latent Goal Models
• Authors: Dhruv Shah, Benjamin Eysenbach, Gregory Kahn, Nicholas Rhinehart, Sergey Levine
• Abstract summary: We describe a robotic learning system for autonomous exploration and navigation in diverse, open-world environments. At the core of our method is a learned latent variable model of distances and actions, along with a non-parametric topological memory of images. We use an information bottleneck to regularize the learned policy, giving us (i) a compact visual representation of goals, (ii) improved generalization capabilities, and (iii) a mechanism for sampling feasible goals for exploration.
• Score: 78.45339342966196
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: We describe a robotic learning system for autonomous exploration and navigation in diverse, open-world environments. At the core of our method is a learned latent variable model of distances and actions, along with a non-parametric topological memory of images. We use an information bottleneck to regularize the learned policy, giving us (i) a compact visual representation of goals, (ii) improved generalization capabilities, and (iii) a mechanism for sampling feasible goals for exploration. Trained on a large offline dataset of prior experience, the model acquires a representation of visual goals that is robust to task-irrelevant distractors. We demonstrate our method on a mobile ground robot in open-world exploration scenarios. Given an image of a goal that is up to 80 meters away, our method leverages its representation to explore and discover the goal in under 20 minutes, even amidst previously-unseen obstacles and weather conditions. Please check out the project website for videos of our experiments and information about the real-world dataset used at https://sites.google.com/view/recon-robot.

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