T-araVLN: 農業ロボットエージェントのための視覚言語ナビゲーション向け指示翻訳器
T-araVLN: Translator for Agricultural Robotic Agents on Vision-and-Language Navigation
農業ロボットの視覚言語ナビゲーションにおいて、複雑な指示の誤解を防ぐため、ノイズの多い指示を精緻な表現に翻訳するモジュールを提案し、成功率とナビゲーション精度を改善した。
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著者: Xiaobei Zhao, Xingqi Lyu, Xin Chen, Xiang Li
分類: cs.RO
原文アブストラクト
Agricultural robotic agents have been becoming useful helpers in a wide range of agricultural tasks. However, they still heavily rely on manual operations or fixed railways for movement. To address this limitation, the AgriVLN method and the A2A benchmark pioneeringly extend Vision-and-Language Navigation (VLN) to the agricultural domain, enabling agents to navigate to the target positions following the natural language instructions. We observe that AgriVLN can effectively understands the simple instructions, but often misunderstands the complex ones. To bridge this gap, we propose the T-araVLN method, in which we build the instruction translator module to translate noisy and mistaken instructions into refined and precise representations. When evaluated on A2A, our T-araVLN successfully improves Success Rate (SR) from 0.47 to 0.63 and reduces Navigation Error (NE) from 2.91m to 2.28m, demonstrating the state-of-the-art performance in the agricultural VLN domain. Code: https://github.com/AlexTraveling/T-araVLN.
