TTA-Nav: Test-time Adaptive Reconstruction for Point-Goal Navigation under Visual Corruptions

arXiv:2403.01977v1 Announce Type: cross
Abstract: Robot navigation under visual corruption presents a formidable challenge. To address this, we propose a Test-time Adaptation (TTA) method, named as TTA-Nav, for point-goal navigation under visual corruptions. Our "plug-and-play" method incorporates a top-down decoder to a pre-trained navigation model. Firstly, the pre-trained navigation model gets a corrupted image and extracts features. Secondly, the top-down decoder produces the reconstruction given the high-level features extracted by the pre-trained model. Then, it feeds the reconstruction of a …

abstract arxiv challenge corruption cs.ai cs.cv cs.ro decoder navigation robot robot navigation test type visual