Name
Abstract | ||
|---|---|---|
Learned Neural Network based policies have shown promising results for robot navigation. However, most of these approaches fall short of being used on a real robot due to the extensive simulated training they require. These simulations lack the visuals and dynamics of the real world, which makes it infeasible to deploy on a real robot. We present a novel Neural Net based policy, NavNet, which allows for easy deployment on a real robot. It consists of two sub policies - a high level policy which can understand real images and perform long range planning expressed in high level commands; a low level policy that can translate the long range plan into low level commands on a specific platform in a safe and robust manner. For every new deployment, the high level policy is trained on an easily obtainable scan of the environment modeling its visuals and layout. We detail the design of such an environment and how one can use it for training a final navigation policy. Further, we demonstrate a learned low-level policy. We deploy the model in a large office building and test it extensively, achieving 0.80 success rate over long navigation runs and outperforming SLAM-based models in the same settings. |
Year | DOI | Venue |
|---|---|---|
2019 | 10.1109/IROS40897.2019.8968004 | 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
Keywords | Field | DocType |
long range neural navigation policies,robot navigation,simulated training,visuals,neural net based policy,high level policy,long range planning,high level commands,low level commands,navigation policy,low-level policy,long navigation runs | Long-range planning,Software deployment,Real-time computing,Control engineering,Real image,Engineering,Robot,Artificial neural network | Journal |
Volume | ISSN | ISBN |
abs/1903.09870 | 2153-0858 | 978-1-7281-4005-6 |
Citations | PageRank | References |
0 | 0.34 | 3 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Ayzaan Wahid | 1 | 0 | 0.34 |
| Alexander Toshev | 2 | 1378 | 73.90 |
| Marek Fiser | 3 | 29 | 3.66 |
| Tsang-Wei Edward Lee | 4 | 6 | 2.15 |