HSPNav: Hierarchical Scene Prior Learning for Visual Semantic Navigation Towards Real Settings
Jiaxu Kang,Bolei Chen,Ping Zhong,Haonan Yang,Yu Sheng,Jianxin Wang,Jiaxu Kang,Bolei Chen,Ping Zhong,Haonan Yang,Yu Sheng,Jianxin Wang
Visual Semantic Navigation (VSN) aims at navigating a robot to a given target object in a previously unseen scene. To tackle this task, the robot must learn a nimble navigation policy by utilizing spatial patterns and semantic co-occurrence relations among objects in the scene. Prevailing approaches extract scene priors from the instant visual observations and solidify them in neural episodic memo...
