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🔗 Source: proceedings.mlr.press
📊 Size: 1.18 MB
👤 Author: Kaiwen Zhou, Kaizhi Zheng, Connor Pryor, Yilin Shen, Hongxia Jin, Lise Getoor, Xin Eric Wang
⬇️ Downloads: 129

Summary

The ability to accurately locate and navigate to a specific object is crucial for embodied agents. Current object navigation methods perform poorly with novel objects or environments due to distribution shifts. A novel zero-shot object navigation method, Exploration with Soft Commonsense constraints (ESC), is proposed, leveraging pre-trained vision and language models for open-world scene understanding and commonsense reasoning. ESC models soft commonsense constraints using Probabilistic Soft Logic and incorporates them into frontier-based exploration to determine which area to explore next. The method achieves state-of-the-art results on zero-shot object goal navigation, outperforming baseline methods by a large margin across three object navigation datasets and benchmarks.

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Description

The ability to accurately locate and navigate to a specific object is crucial for embodied agents.

Technical Information

  • File Format: PDF
  • File Size: 1.18 MB
  • Pages: 14
  • Language: EN
  • Author: Kaiwen Zhou, Kaizhi Zheng, Connor Pryor, Yilin Shen, Hongxia Jin, Lise Getoor, Xin Eric Wang
  • Total Downloads: 129
  • Last Updated: 2 weeks ago

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