NoMaD: Goal Masked Diffusion Policies for Navigation and Exploration
Ajay Sridhar,Dhruv Shah,Catherine Glossop,Sergey Levine,Ajay Sridhar,Dhruv Shah,Catherine Glossop,Sergey Levine
Robotic learning for navigation in unfamiliar environments needs to provide policies for both task-oriented navigation (i.e., reaching a goal that the robot has located), and task-agnostic exploration (i.e., searching for a goal in a novel setting). Typically, these roles are handled by separate models, for example by using subgoal proposals, planning, or separate navigation strategies. In this pa...
