ETPNav: Evolving Topological Planning for Vision-Language Navigation in Continuous Environments | |
Dong An![]() ![]() ![]() ![]() | |
发表期刊 | IEEE Transactions on Pattern Analysis and Machine Intelligence
![]() |
2024 | |
页码 | 1-16 |
摘要 | Vision-language navigation is a task that requires an agent to follow instructions to navigate in environments. It becomes increasingly crucial in the field of embodied AI, with potential applications in autonomous navigation, search and rescue, and human-robot interaction. In this paper, we propose to address a more practical yet challenging counterpart setting - vision-language navigation in continuous environments (VLN-CE). To develop a robust VLN-CE agent, we propose a new navigation framework, ETPNav, which focuses on two critical skills: 1) the capability to abstract environments and generate long-range navigation plans, and 2) the ability of obstacle-avoiding control in continuous environments. ETPNav performs online topological mapping of environments by self-organizing predicted waypoints along a traversed path, without prior environmental experience. It privileges the agent to break down the navigation procedure into high-level planning and low-level control. Concurrently, ETPNav utilizes a transformer-based cross-modal planner to generate navigation plans based on topological maps and instructions. The plan is then performed through an obstacle-avoiding controller that leverages a trial-and-error heuristic to prevent navigation from getting stuck in obstacles. Experimental results demonstrate the effectiveness of the proposed method. ETPNav yields more than 10% and 20% improvements over prior state-of-the-art on R2R-CE and RxR-CE datasets, respectively. Our code is available at https://github.com/MarSaKi/ETPNav. |
关键词 | Vision-Language Navigation Topological Map Obstacle Avoidance |
URL | 查看原文 |
收录类别 | SCI |
语种 | 英语 |
出版者 | IEEE Transactions on Pattern Analysis and Machine Intelligence |
是否为代表性论文 | 是 |
七大方向——子方向分类 | 机器人感知与决策 |
国重实验室规划方向分类 | 多模态协同认知 |
是否有论文关联数据集需要存交 | 否 |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/56505 |
专题 | 智能感知与计算研究中心 |
作者单位 | 1.Center for Research on Intelligent Perception and Computing (CRIPAC), National Laboratory of Pattern Recognition (NLPR) 2.School of Future Technology and School of Artificial Intelligence, University of Chinese Academy of Sciences 3.Beijing Institute of Technology 4.Zhejiang University 5.Australian National University |
推荐引用方式 GB/T 7714 | Dong An,Hanqing Wang,Wenguan Wang,et al. ETPNav: Evolving Topological Planning for Vision-Language Navigation in Continuous Environments[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence,2024:1-16. |
APA | Dong An.,Hanqing Wang.,Wenguan Wang.,Zun Wang.,Yan Huang.,...&Liang Wang.(2024).ETPNav: Evolving Topological Planning for Vision-Language Navigation in Continuous Environments.IEEE Transactions on Pattern Analysis and Machine Intelligence,1-16. |
MLA | Dong An,et al."ETPNav: Evolving Topological Planning for Vision-Language Navigation in Continuous Environments".IEEE Transactions on Pattern Analysis and Machine Intelligence (2024):1-16. |
条目包含的文件 | 条目无相关文件。 |
除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。
修改评论