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Recent results suggest that splitting topological navigation into robot-independent and robot-specific components improves navigation performance by enabling the robot-independent part to be trained with data collected by robots of different types.
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D. Shah, A. Sridhar, A. Bhorkar, N. Hirose, and S. Levine, “GNM: A General Navigation Model to Drive Any Robot,” in 2023 IEEE International Conference on Robotics and Automation (ICRA) , May 2023, pp. 7226–7233
2023
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D. Shah, A. Sridhar, N. Dashora, K. Stachowicz, K. Black, N. Hirose, and S. Levine, “ViNT: A Large-Scale, Multi-Task Visual Navigation Backbone with Cross-Robot Generalization,” in Proceedings of the 7th Annual Conference on Robot Learning . PMLR, Aug. 2023. https://openreview.net/forum?id=-K7-1WvKO3F
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2023
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N. Hirose, D. Shah, A. Sridhar, and S. Levine, “SACSoN: Scalable Autonomous Control for Social Navigation,” IEEE Robotics and Automation Letters , vol. 9, no. 1, pp. 49–56, Jan. 2024. https://ieeexplore.ieee.org/document/10305270
2024
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