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Building Intelligent Autonomous Navigation Agents

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thesis
posted on 21.04.2022, 19:59 by Devendra ChaplotDevendra Chaplot

Breakthroughs in machine learning in the last decade have led to `digital intelligence', i.e. machine learning models capable of learning from vast amounts of labeled data to perform several digital tasks such as speech recognition,

face recognition, machine translation and so on. The goal of this thesis is to make progress towards designing algorithms capable of `physical intelligence', i.e. building intelligent autonomous navigation agents capable of learning to

perform complex navigation tasks in the physical world involving visual perception, natural language understanding, reasoning, planning, and sequential decision making. Despite several advances in classical navigation methods in

the last few decades, current navigation agents struggle at long-term semantic navigation tasks. In the first part of the thesis, we discuss our work on shortterm navigation using end-to-end reinforcement learning to tackle challenges

such as obstacle avoidance, semantic perception, language grounding, and reasoning  In the second part, we present a new class of navigation methods based on modular learning and structured explicit map representations, which leverage

the strengths of both classical and end-to-end learning methods, to tackle long-term navigation tasks. We show that these methods are able to effectively tackle challenges such as localization, mapping, long-term planning, exploration

and learning semantic priors. These modular learning methods are capable of long-term spatial and semantic understanding and achieve state-of-the-art results

on various navigation tasks.

History

Date

03/03/2021

Degree Type

Dissertation

Department

Machine Learning

Degree Name

  • Doctor of Philosophy (PhD)

Advisor(s)

Ruslan Salakhutdinov

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