论文
机器人导航
Robostral Navigate
Abdelaziz Bounhar; Abhijeet Somani; Aditi Kabra; Adrian Valente; Adrien Petralia; Adrien Sade; Alan Jeffares; Albert Jiang; Aleksandr Timashov; Alexandre Cahill; Alexandre Gavaudan; Alexandre Laval; Alexandre Sablayrolles; Amelie Heliou; Amos You; Andre Jonasson; Andrew Bai; Andrew Ehrenberg; Andrew Zhao; Angele Lenglemetz; Anmol Agarwal; Antonia Calvi; Arata Suzuki; Arjun Majumdar; Arthur Fournier; Artjom Joosen; Avinash Sooriyarachchi; Aylin Guliz Akkus; Aysenur Karaduman; Baptiste Bout; Baptiste Roziere; Baudouin De Monicault; Benjamin Holzschuh; Benjamin Lefaudeux; Benjamin Tibi; Bernhard Stadlbauer; Blazej Osinski; Camille Le Scao; Chaoran Yu; Charlotte Cronjager; Chen-Yo Sun; Chris Bamford; Christian Wallenwein; Christophe Renaudin; Clemence Lanfranchi; Corentin Barreau; Corentin Sautier; Cristiana-Diana Diaconu; Cyprien Courtot; Daniel Marczak; Darius Dabert; Diego de Las Casas; Dominik Nuss; Dylan Rubini; Dzmitry Soupel; Elizaveta Demyanenko; Elliot Chane-Sane; Emilien Fugier; Emmanuel Gottlob; Erik Aas; Etienne Goffinet; Etienne Millon; Eujeong Choi; Fabian Paischer; Fabian Schlager; Faruk Ahmed; Federico Baldassarre; Filip Szatkowski; Florian Wiesner; Gabrielle Berrada; Gaetan Ecrepont; Gaetan Lepage; Gaspard Blanchet; Gaspard Donada-Vidal; Gauthier Delerce; Gauthier Guinet; Genevieve Hayes; Georgii Novikov; Giada Pistilli; Gianluca Galletti; Guillaume Breton; Guillaume Kunsch; Guillaume Lample; Guillaume Martin; Guillaume Raille; Gunjan Dhanuka; Gunshi Gupta; Han Zhou; Harshil Shah; Hasan Furkan Vural; Hedi Hadiji; Hope McGovern; Hugo Cisneros; Hugo Thimonier; Indraneel Mukherjee; Ivan Cuevas Salazar; Jacques Sun; Jan Ludziejewski; Jason Rute; Jean Quentin; Jean-Hadrien Chabran; Jean-Malo Delignon; Jie Zhang; Joachim Studnia; Joep Barmentlo; Johannes Brandstetter; John Harvill; Jonas Amar; Jonas Schweizer; Josephine Delas; Josselin Somerville; Julien Denize; Julien Tauran; Kartik Khandelwal; Khyathi Raghavi Chandu; Kilian Tep; Kush Jain; Larissa Laich; Laura Calem; Laurence Aitchison; Laurent Callot; Laurent Fainsin; Leo Cotteleer; Leonard Blier; Lingxiao Zhao; Louis Martin; Louis Serrano; Lucile Saulnier; Ludovic Ho Fuh; Luis Montero; Maarten Buyl; Manon Chossegros; Marcin Mozejko; Margaret Jennings; Markus Hennerbichler; Martin Alexandre; Mathieu Poiree; Mathieu Schmitt; Mathilde Guillaumin; Matthieu Andre; Matthieu Dinot; Matthieu Futeral; Maurits Bleeker; Mauro Comi; Max Mynter; Maxim Berman; Maxime Darrin; Maxime Louis; Maximilian Augustin; Maximilian Muller; Melina Jingting Laimon; Mert Unsal; Mia Chiquier; Michael Pilcer; Michal Pietruszka; Michal Zajac; Mikhail Biriuchinskii; Minh-Quang Pham; Minwoo Kang; Morgane Riviere; Namit Katariya; Nathan Grinsztajn; Nathan Simpson; Neeraj Aggarwal; Neha Gupta; Ola Mysiak; Oliver Leicht; Olivier Bousquet; Olivier Duchenne; Parag Jain; Patricia Wang; Patrick Blies; Patrick von Platen; Paul Jacob; Paul Wambergue; Paula Kurylowicz; Pavan Kumar Reddy; Pavel Kuksa; Philippe Pinel; Philomene Chagniot; Pierre Stock; Pierre-Andre Savalle; Piotr Milos; Prateek Gupta; Pravesh Agrawal; Quentin Desreumaux; Quentin Torroba; Quercus Hernandez; Ram Ramrakhya; Randall Isenhour; Ranjit Parva; Raul Perez Pelaez; Reinhard Sonnleitner; Remi Delacourt; Richard Kurle; Rishi Shah; Rob Romijnders; Rohin Arora; Romain Sauvestre; Roman Soletskyi; Rosalie Millner; Rupert Menneer; Sagar Vaze; Samuel Barry; Samuel Belkadi; Samuel Humeau; Sanchit Gandhi; Sandeep Subramanian; Sarthak Mittal; Saskia Adaime; Sean Cha; Sebastian Kaltenbach; Shashwat Dalal; Shashwat Verma; Sherif Waly; Shrimai Prabhumoye; Siddhant Waghjale; Siddharth Gandhi; Simon Lepage; Simon Sorg; Soham Ghosh; Sophie Marbach; Srijan Mishra; Stanislas Lange; Steve Hong; Sumukh Aithal; Szymon Antoniak; Tarun Kumar Vangani; Teven Le Scao; Theo Cachet; Thibaut Lavril; Thomas Chabal; Thomas Coste; Thomas Defard; Thomas Foubert; Thomas Robert; Thomas Wang; Tianyu Zhang; Tim Lawson; Timothee Lacroix; Tobias Kronlachner; Tom Bewley; Tom Edwards; Tomas Hodan; Tuhin Das; Tyler Wang; Ulrick BLE; Umar Jamil; Umberto Tomasini; Valentin Mace; Van Phung; Vedant Nanda; Victor Jouault; Victor Letzelter; Victor Paltz; Victor Poucheret; Vincent Maladiere; Vincent Pfister; Virgile Richard; Vladislav Bataev; Wassim Bouaziz; Wen Ding Li; William Havard; William Marshall; Xinghui Li; Xingran Guo; Xinyu Yang; Yann Dreze; Yassine El Ouahidi; Yassir Bendou; Yihan Wang; Yimu Pan; Yves Martin des Taillades; Zaccharie Ramzi; Zhenlin Xu; Zsofia Csakany·
应用与实践机器人
摘要
大规模部署导航系统需要一种方法，可以最大限度地减少传感器假设、概括机器人实施例并进行有效训练。然而，当今最好的系统依赖于深度传感器、多摄像头设备或预构建地图，限制了它们支持的硬件并增加了部署成本。我们推出 Robostral Navigate，这是一种围绕此可扩展性目标构建的 8B 视觉语言模型。该模型仅消耗单目 RGB 图像流（机器人平台上最普遍的传感器），并通过指向当前相机视图中的下一个目标位置来预测路径点。纯粹在图像空间而不是特定于机器人的坐标中操作，使得该策略自然地对相机内在特性和场景规模的变化具有鲁棒性，从而无需重新校准即可在轮式、腿式和空中机器人上进行部署。我们在 35 万个模拟场景中生成 240 万条轨迹，以减少对现实世界数据收集和轻松扩展的依赖。我们进一步引入了前缀缓存训练方案，将整个剧集打包到单个训练序列中，将训练词元减少 22 倍，并将训练时间从几个月缩短到几天。基于树的注意力掩模可以防止对之前的 真值 动作进行调节，鼓励基于视觉的动作预测，并使用强化学习来进一步提高探索和恢复能力。在连续环境中的房间到房间和房间跨房间（R2R-CE 和 RxR-CE）基准上，Robostral Navigate 树立了新的技术水平。在 R2R-CE 上，它实现了 77.4% 的成功率，尽管只使用单个 RGB 摄像头，但比最好的单目方法高出 10.5 个点，比最强的深度或多摄像头系统高出 5.3 个点。在 RxR-CE 上，它的成功率达到 75.1%，优于所有单眼基线。