MemoNav: Working Memory Model for Visual Navigation

arXiv:2402.19161v1 Announce Type: new
Abstract: Image-goal navigation is a challenging task that requires an agent to navigate to a goal indicated by an image in unfamiliar environments. Existing methods utilizing diverse scene memories suffer from inefficient exploration since they use all historical observations for decision-making without considering the goal-relevant fraction. To address this limitation, we present MemoNav, a novel memory model for image-goal navigation, which utilizes a working memory-inspired pipeline to improve navigation performance. Specifically, we employ three types of …

abstract agent arxiv cs.ai cs.cv cs.ro decision diverse environments exploration image making memories memory navigation type visual visual navigation