Object Memory Transformer for Object Goal Navigation
Rui Fukushima,Kei Ota,Asako Kanezaki,Yoko Sasaki,Yusuke Yoshiyasu,Rui Fukushima,Kei Ota,Asako Kanezaki,Yoko Sasaki,Yusuke Yoshiyasu
This paper presents a reinforcement learning method for object goal navigation (ObjNav) where an agent navigates in 3D indoor environments to reach a target object based on long-term observations of objects and scenes. To this end, we propose Object Memory Transformer (OMT) that consists of two key ideas: 1) Object-Scene Memory (OSM) that enables to store long-term scenes and object semantics, and...
