Visual Memory for Robust Path Following [article]

Ashish Kumar, Saurabh Gupta, David Fouhey, Sergey Levine, Jitendra Malik
2018 arXiv   pre-print
Humans routinely retrace paths in a novel environment both forwards and backwards despite uncertainty in their motion. This paper presents an approach for doing so. Given a demonstration of a path, a first network generates a path abstraction. Equipped with this abstraction, a second network observes the world and decides how to act to retrace the path under noisy actuation and a changing environment. The two networks are optimized end-to-end at training time. We evaluate the method in two
more » ... stic simulators, performing path following and homing under actuation noise and environmental changes. Our experiments show that our approach outperforms classical approaches and other learning based baselines.
arXiv:1812.00940v1 fatcat:l7juyjkxnrfdzgplfav2juidsq