想像による計画：視覚と言語によるナビゲーションのためのエピソード的シミュレーションとエピソード的記憶
Planning from Imagination: Episodic Simulation and Episodic Memory for Vision-and-Language Navigation
人間のエピソード的シミュレーションと記憶に着想を得て、エージェントが未来のシーンを想像しながら記憶を拡張するVLNアーキテクチャを提案し、SPLで最先端を達成した。
著者: Yiyuan Pan, Yunzhe Xu, Zhe Liu, Hesheng Wang
分類: cs.CV, cs.LG, cs.RO
原文アブストラクト
Humans navigate unfamiliar environments using episodic simulation and episodic memory, which facilitate a deeper understanding of the complex relationships between environments and objects. Developing an imaginative memory system inspired by human mechanisms can enhance the navigation performance of embodied agents in unseen environments. However, existing Vision-and-Language Navigation (VLN) agents lack a memory mechanism of this kind. To address this, we propose a novel architecture that equips agents with a reality-imagination hybrid memory system. This system enables agents to maintain and expand their memory through both imaginative mechanisms and navigation actions. Additionally, we design tailored pre-training tasks to develop the agent's imaginative capabilities. Our agent can imagine high-fidelity RGB images for future scenes, achieving state-of-the-art result in Success rate weighted by Path Length (SPL).
