Target-driven visual navigation in indoor scenes using deep reinforcement learning

@article{Zhu2017TargetdrivenVN,
  title={Target-driven visual navigation in indoor scenes using deep reinforcement learning},
  author={Yuke Zhu and Roozbeh Mottaghi and Eric Kolve and Joseph J. Lim and Abhinav Gupta and Li Fei-Fei and Ali Farhadi},
  journal={2017 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2017},
  pages={3357-3364}
}
Two less addressed issues of deep reinforcement learning are (1) lack of generalization capability to new goals, and (2) data inefficiency, i.e., the model requires several (and often costly) episodes of trial and error to converge, which makes it impractical to be applied to real-world scenarios. In this paper, we address these two issues and apply our model to target-driven visual navigation. To address the first issue, we propose an actor-critic model whose policy is a function of the goal… CONTINUE READING
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