TriHelper: 動的支援によるゼロショット物体ナビゲーション
TriHelper: Zero-Shot Object Navigation with Dynamic Assistance
未知環境で特定物体へ向かうゼロショット物体ナビゲーションにおいて、衝突・探索・検出の課題を動的に支援する3つのヘルパーからなるフレームワークを提案し、HM3DとGibsonで既存手法を上回る性能を示した。
著者: Lingfeng Zhang, Qiang Zhang, Hao Wang, Erjia Xiao, Zixuan Jiang, Honglei Chen, Renjing Xu
分類: cs.RO
原文アブストラクト
Navigating toward specific objects in unknown environments without additional training, known as Zero-Shot object navigation, poses a significant challenge in the field of robotics, which demands high levels of auxiliary information and strategic planning. Traditional works have focused on holistic solutions, overlooking the specific challenges agents encounter during navigation such as collision, low exploration efficiency, and misidentification of targets. To address these challenges, our work proposes TriHelper, a novel framework designed to assist agents dynamically through three primary navigation challenges: collision, exploration, and detection. Specifically, our framework consists of three innovative components: (i) Collision Helper, (ii) Exploration Helper, and (iii) Detection Helper. These components work collaboratively to solve these challenges throughout the navigation process. Experiments on the Habitat-Matterport 3D (HM3D) and Gibson datasets demonstrate that TriHelper significantly outperforms all existing baseline methods in Zero-Shot object navigation, showcasing superior success rates and exploration efficiency. Our ablation studies further underscore the effectiveness of each helper in addressing their respective challenges, notably enhancing the agent's navigation capabilities. By proposing TriHelper, we offer a fresh perspective on advancing the object navigation task, paving the way for future research in the domain of Embodied AI and visual-based navigation.
