Following High-level Navigation Instructions on a Simulated Quadcopter with Imitation Learning

31 May 2018Valts BlukisNataly BrukhimAndrew BennettRoss A. KnepperYoav Artzi

We introduce a method for following high-level navigation instructions by mapping directly from images, instructions and pose estimates to continuous low-level velocity commands for real-time control. The Grounded Semantic Mapping Network (GSMN) is a fully-differentiable neural network architecture that builds an explicit semantic map in the world reference frame by incorporating a pinhole camera projection model within the network... (read more)

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