Multi-Object Navigation in real environments using hybrid policies

• URL: http://arxiv.org/abs/2401.13800v1
• Date: Wed, 24 Jan 2024 20:41:25 GMT
• Title: Multi-Object Navigation in real environments using hybrid policies
• Authors: Assem Sadek, Guillaume Bono, Boris Chidlovskii, Atilla Baskurt and Christian Wolf
• Abstract summary: We introduce a hybrid navigation method, which decomposes the problem into two different skills. We show the advantages of this approach compared to end-to-end methods both in simulation and a real environment.
• Score: 18.52681391843433
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Navigation has been classically solved in robotics through the combination of SLAM and planning. More recently, beyond waypoint planning, problems involving significant components of (visual) high-level reasoning have been explored in simulated environments, mostly addressed with large-scale machine learning, in particular RL, offline-RL or imitation learning. These methods require the agent to learn various skills like local planning, mapping objects and querying the learned spatial representations. In contrast to simpler tasks like waypoint planning (PointGoal), for these more complex tasks the current state-of-the-art models have been thoroughly evaluated in simulation but, to our best knowledge, not yet in real environments. In this work we focus on sim2real transfer. We target the challenging Multi-Object Navigation (Multi-ON) task and port it to a physical environment containing real replicas of the originally virtual Multi-ON objects. We introduce a hybrid navigation method, which decomposes the problem into two different skills: (1) waypoint navigation is addressed with classical SLAM combined with a symbolic planner, whereas (2) exploration, semantic mapping and goal retrieval are dealt with deep neural networks trained with a combination of supervised learning and RL. We show the advantages of this approach compared to end-to-end methods both in simulation and a real environment and outperform the SOTA for this task.

Related papers

• E2Map: Experience-and-Emotion Map for Self-Reflective Robot Navigation with Language Models [16.50787220881633]
  Large language models (LLMs) have shown significant potential in guiding embodied agents to execute language instructions. Existing methods are primarily designed for static environments and do not leverage agent's own experiences to refine its initial plans. This study introduces the Experience-and-Emotion Map (E2Map), which not only integrates LLM knowledge but also the agent's real-world experiences.
  arXiv  Detail & Related papers  (2024-09-16T06:35:18Z)
• Aquatic Navigation: A Challenging Benchmark for Deep Reinforcement Learning [53.3760591018817]
  We propose a new benchmarking environment for aquatic navigation using recent advances in the integration between game engines and Deep Reinforcement Learning. Specifically, we focus on PPO, one of the most widely accepted algorithms, and we propose advanced training techniques. Our empirical evaluation shows that a well-designed combination of these ingredients can achieve promising results.
  arXiv  Detail & Related papers  (2024-05-30T23:20:23Z)
• ReProHRL: Towards Multi-Goal Navigation in the Real World using Hierarchical Agents [1.3194749469702445]
  We present Ready for Production Hierarchical RL (ReProHRL) that divides tasks with hierarchical multi-goal navigation guided by reinforcement learning. We also use object detectors as a pre-processing step to learn multi-goal navigation and transfer it to the real world. For the real-world implementation and proof of concept demonstration, we deploy the proposed method on a nano-drone named Crazyflie with a front camera.
  arXiv  Detail & Related papers  (2023-08-17T02:23:59Z)
• How To Not Train Your Dragon: Training-free Embodied Object Goal Navigation with Semantic Frontiers [94.46825166907831]
  We present a training-free solution to tackle the object goal navigation problem in Embodied AI. Our method builds a structured scene representation based on the classic visual simultaneous localization and mapping (V-SLAM) framework. Our method propagates semantics on the scene graphs based on language priors and scene statistics to introduce semantic knowledge to the geometric frontiers.
  arXiv  Detail & Related papers  (2023-05-26T13:38:33Z)
• Navigating to Objects in the Real World [76.1517654037993]
  We present a large-scale empirical study of semantic visual navigation methods comparing methods from classical, modular, and end-to-end learning approaches. We find that modular learning works well in the real world, attaining a 90% success rate. In contrast, end-to-end learning does not, dropping from 77% simulation to 23% real-world success rate due to a large image domain gap between simulation and reality.
  arXiv  Detail & Related papers  (2022-12-02T01:10:47Z)
• Landmark Policy Optimization for Object Navigation Task [77.34726150561087]
  This work studies object goal navigation task, which involves navigating to the closest object related to the given semantic category in unseen environments. Recent works have shown significant achievements both in the end-to-end Reinforcement Learning approach and modular systems, but need a big step forward to be robust and optimal. We propose a hierarchical method that incorporates standard task formulation and additional area knowledge as landmarks, with a way to extract these landmarks.
  arXiv  Detail & Related papers  (2021-09-17T12:28:46Z)
• Object Goal Navigation using Goal-Oriented Semantic Exploration [98.14078233526476]
  This work studies the problem of object goal navigation which involves navigating to an instance of the given object category in unseen environments. We propose a modular system called, Goal-Oriented Semantic Exploration' which builds an episodic semantic map and uses it to explore the environment efficiently.
  arXiv  Detail & Related papers  (2020-07-01T17:52:32Z)
• Learning to Move with Affordance Maps [57.198806691838364]
  The ability to autonomously explore and navigate a physical space is a fundamental requirement for virtually any mobile autonomous agent. Traditional SLAM-based approaches for exploration and navigation largely focus on leveraging scene geometry. We show that learned affordance maps can be used to augment traditional approaches for both exploration and navigation, providing significant improvements in performance.
  arXiv  Detail & Related papers  (2020-01-08T04:05:11Z)

This list is automatically generated from the titles and abstracts of the papers in this site.

This site does not guarantee the quality of this site (including all information) and is not responsible for any consequences.