论文标题
通过增强对象导航的指导增强结构化探索
Structured Exploration Through Instruction Enhancement for Object Navigation
论文作者
论文摘要
在看不见的环境中找到特定类的对象仍然是一个未解决的导航问题。因此，我们为对象导航提出了一种基于分层学习的方法。顶级能够进行高级计划，并在平面图上建立记忆（例如，哪个房间是代理商下一步访问的最有意义的，代理商已经去了哪里？）。较低级别的任务是在房间之间有效导航并在其中寻找对象。可以使用简单的合成语言向代理提供说明。顶级智能增强说明，以使整体任务更加易于处理。语言接地，对视觉观察的映射说明是通过使用其他单独监督的训练有素的目标评估模块来执行的。我们证明了我们方法对动态可配置的家庭环境的有效性。
Finding an object of a specific class in an unseen environment remains an unsolved navigation problem. Hence, we propose a hierarchical learning-based method for object navigation. The top-level is capable of high-level planning, and building a memory on a floorplan-level (e.g., which room makes the most sense for the agent to visit next, where has the agent already been?). While the lower-level is tasked with efficiently navigating between rooms and looking for objects in them. Instructions can be provided to the agent using a simple synthetic language. The top-level intelligently enhances the instructions in order to make the overall task more tractable. Language grounding, mapping instructions to visual observations, is performed by utilizing an additional separate supervised trained goal assessment module. We demonstrate the effectiveness of our method on a dynamic configurable domestic environment.
