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Shigeharu Mukai
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Dhruv ShahさんがCoRL2021で発表されていた、論文内容を紹介します。
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corl2021_yomikai_Learning_to_Navigate_and_Explore_Open-World_Environments
1.
Learning to Navigate
and Explore Open-World Environments CoRL2021読み解 Lightning talk⚡ 2021.12.11 Shigeharu Mukai twitter: @moe_moe_moegi
2.
著者情報 • Dhruv Shahさん •
発音:ドゥルーヴ • UC-Berkeley の大学院生 • Google Brain Roboticsの 学生研究員 • Levine大先生がアドバイザ
3.
Summary • 問題設定 • 自立移動ロボットを指定した画像の場所に行かせる •
手法 • Topological Graph • Variational Information Bottleneck • 新規性、優位性 • 80m離れた場所に20min以内に到達可能 • RLの好奇心系手法と比較、次鋒より50%早く到着 • 天候条件、新規障害物にロバスト 使用した筐体 :Jackal (Clear Path社)
4.
問題設定 • 自立移動ロボットを指定した画像の場所に行かせる • 未知の環境 •
未知の画像 • 自己位置情報なし(カメラのみ) • シミュレータなし • 他の環境で収集したデータは有り • 問題設定2 [割愛] • 未知の環境→既知の環境
5.
問題設定 動画→ https://youtu.be/jF1URT-TSRU ロボットから 見えている画像 監視用可視化(ロボには見えない) 行かせたい 場所の画像
6.
問題設定 動画→ https://youtu.be/jF1URT-TSRU 行かせたい 場所の画像 ロボットから 見えている画像 監視用可視化(ロボには見えない)
7.
問題設定 動画→ https://youtu.be/jF1URT-TSRU 行かせたい 場所の画像 ロボットから 見えている画像
8.
アルゴリズム • 探索開始 ↓ ↓ • マップを作りながら探索 ↓ ↓ ↓ •
目的地へ行けそうと予測 ↓ • 目的地へ到達
9.
手法 • Topological Map •
座標情報は得られないし、推定もしない ↓ • 地図をグラフとして表現 • ノード:画像+訪問回数 • エッジ:移動時間 • ループはクローズしない • 移動時間はニューラルネットで予測 • グラフ間の移動手段もニューラルネットにまかせる 移動時間 22.7 フレーム 20.5 18.1 21.1 訪問回数:1回
10.
手法 • Variational Information
Bottleneck • 移動時間予測+RLの方策をニューラルネットで学習 • 入力 • 今の画像、目的地画像 • 出力 • 今取る行動、移動時間 • 制約 • Zが標準正規分布に近づくように • c.f. β-VAE → 予測に不要な情報を削ぎ落として 天気や新規障害物にロバストに
11.
新規性・優位性 • RLの好奇心系手法と比較、次鋒より50%早く到着 • 8つ未知環境 •
スタートからゴールに着くまでの 時間を比較 • 天候条件、新規障害物にロバスト
12.
参考文献 • 著者情報 • https://people.eecs.berkeley.edu/~shah/ •
今回の論文、ポスター、Review • https://openreview.net/forum?id=d_SWJhyKfVw • 当日のOral Session • https://www.youtube.com/watch?v=tR9MMvsu2gA&t=5s • データセット • https://sites.google.com/view/recon-robot/dataset • 18ヶ月、50B
13.
APPENDIX
14.
個人的な疑問
15.
その他情報1 • データセットはオンラインで作る • アルゴリズム→
16.
その他情報2 • ELBO前の目的関数
17.
アルゴリズム • 開始時に必要なもの • 他の環境のデータで学習 されたモデルp,q •
今画像 • 最終ゴール画像 • 各種ハイパラ • 訪問回数が少ない探索 ノード付近 • 今画像・目的地画像を無 視して、zをサンプリング する
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