FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W3188822535> ?p ?o ?g. }

• W3188822535 abstract "We train embodied neural networks to plan and navigate unseen complex 3D environments, emphasising real-world deployment. Rather than requiring prior knowledge of the agent or environment, the planner learns to model the state transitions and rewards. To avoid the potentially hazardous trial-and-error of reinforcement learning, we focus on differentiable planners such as Value Iteration Networks (VIN), which are trained offline from safe expert demonstrations. Although they work well in small simulations, we address two major limitations that hinder their deployment. First, we observed that current differentiable planners struggle to plan long-term in environments with a high branching complexity. While they should ideally learn to assign low rewards to obstacles to avoid collisions, we posit that the constraints imposed on the network are not strong enough to guarantee the network to learn sufficiently large penalties for every possible collision. We thus impose a structural constraint on the value iteration, which explicitly learns to model any impossible actions. Secondly, we extend the model to work with a limited perspective camera under translation and rotation, which is crucial for real robot deployment. Many VIN-like planners assume a 360 degrees or overhead view without rotation. In contrast, our method uses a memory-efficient lattice map to aggregate CNN embeddings of partial observations, and models the rotational dynamics explicitly using a 3D state-space grid (translation and rotation). Our proposals significantly improve semantic navigation and exploration on several 2D and 3D environments, succeeding in settings that are otherwise challenging for this class of methods. As far as we know, we are the first to successfully perform differentiable planning on the difficult Active Vision Dataset, consisting of real images captured from a robot." @default.
• W3188822535 created "2021-08-16" @default.
• W3188822535 creator A5080887568 @default.
• W3188822535 creator A5084478386 @default.
• W3188822535 date "2021-08-08" @default.
• W3188822535 modified "2023-09-25" @default.
• W3188822535 title "Towards real-world navigation with deep differentiable planners" @default.
• W3188822535 cites W131069610 @default.
• W3188822535 cites W1969483458 @default.
• W3188822535 cites W2021272950 @default.
• W3188822535 cites W2033819227 @default.
• W3188822535 cites W2061562262 @default.
• W3188822535 cites W2062118960 @default.
• W3188822535 cites W2076337359 @default.
• W3188822535 cites W2098774185 @default.
• W3188822535 cites W2099144379 @default.
• W3188822535 cites W2119717200 @default.
• W3188822535 cites W2121092017 @default.
• W3188822535 cites W2121863487 @default.
• W3188822535 cites W2128990851 @default.
• W3188822535 cites W2147544021 @default.
• W3188822535 cites W2169528473 @default.
• W3188822535 cites W2257979135 @default.
• W3188822535 cites W2258731934 @default.
• W3188822535 cites W2336416123 @default.
• W3188822535 cites W2557283755 @default.
• W3188822535 cites W2560609797 @default.
• W3188822535 cites W2593841437 @default.
• W3188822535 cites W2594903727 @default.
• W3188822535 cites W2736601468 @default.
• W3188822535 cites W2798483995 @default.
• W3188822535 cites W2808213243 @default.
• W3188822535 cites W2884565639 @default.
• W3188822535 cites W2929928372 @default.
• W3188822535 cites W2950305861 @default.
• W3188822535 cites W2951660448 @default.
• W3188822535 cites W2952791429 @default.
• W3188822535 cites W2962893898 @default.
• W3188822535 cites W2963245725 @default.
• W3188822535 cites W2963277051 @default.
• W3188822535 cites W2963488291 @default.
• W3188822535 cites W2964043796 @default.
• W3188822535 cites W2964220198 @default.
• W3188822535 cites W2966130410 @default.
• W3188822535 cites W2981954954 @default.
• W3188822535 cites W3011120880 @default.
• W3188822535 cites W3102327032 @default.
• W3188822535 cites W3133450291 @default.
• W3188822535 cites W3139377883 @default.
• W3188822535 cites W3157700977 @default.
• W3188822535 cites W3173892832 @default.
• W3188822535 doi "https://doi.org/10.48550/arxiv.2108.05713" @default.
• W3188822535 hasPublicationYear "2021" @default.
• W3188822535 type Work @default.
• W3188822535 sameAs 3188822535 @default.
• W3188822535 citedByCount "0" @default.
• W3188822535 crossrefType "posted-content" @default.
• W3188822535 hasAuthorship W3188822535A5080887568 @default.
• W3188822535 hasAuthorship W3188822535A5084478386 @default.
• W3188822535 hasBestOaLocation W31888225351 @default.
• W3188822535 hasConcept C105339364 @default.
• W3188822535 hasConcept C111919701 @default.
• W3188822535 hasConcept C120314980 @default.
• W3188822535 hasConcept C134306372 @default.
• W3188822535 hasConcept C154945302 @default.
• W3188822535 hasConcept C202615002 @default.
• W3188822535 hasConcept C2776459999 @default.
• W3188822535 hasConcept C2779960059 @default.
• W3188822535 hasConcept C33923547 @default.
• W3188822535 hasConcept C41008148 @default.
• W3188822535 hasConcept C76155785 @default.
• W3188822535 hasConcept C90509273 @default.
• W3188822535 hasConcept C97541855 @default.
• W3188822535 hasConceptScore W3188822535C105339364 @default.
• W3188822535 hasConceptScore W3188822535C111919701 @default.
• W3188822535 hasConceptScore W3188822535C120314980 @default.
• W3188822535 hasConceptScore W3188822535C134306372 @default.
• W3188822535 hasConceptScore W3188822535C154945302 @default.
• W3188822535 hasConceptScore W3188822535C202615002 @default.
• W3188822535 hasConceptScore W3188822535C2776459999 @default.
• W3188822535 hasConceptScore W3188822535C2779960059 @default.
• W3188822535 hasConceptScore W3188822535C33923547 @default.
• W3188822535 hasConceptScore W3188822535C41008148 @default.
• W3188822535 hasConceptScore W3188822535C76155785 @default.
• W3188822535 hasConceptScore W3188822535C90509273 @default.
• W3188822535 hasConceptScore W3188822535C97541855 @default.
• W3188822535 hasLocation W31888225351 @default.
• W3188822535 hasLocation W31888225352 @default.
• W3188822535 hasLocation W31888225353 @default.
• W3188822535 hasOpenAccess W3188822535 @default.
• W3188822535 hasPrimaryLocation W31888225351 @default.
• W3188822535 hasRelatedWork W2015855483 @default.
• W3188822535 hasRelatedWork W2092071486 @default.
• W3188822535 hasRelatedWork W2131630752 @default.
• W3188822535 hasRelatedWork W2391167130 @default.
• W3188822535 hasRelatedWork W2937603438 @default.
• W3188822535 hasRelatedWork W3158304547 @default.
• W3188822535 hasRelatedWork W4206669594 @default.
• W3188822535 hasRelatedWork W4221165949 @default.
• W3188822535 hasRelatedWork W4283067488 @default.

• next