Trajectory-Constrained Deep Latent Visual Attention for Improved Local Planning in Presence of Heterogeneous Terrain
Stefan Wapnick,Travis Manderson,David Meger,Gregory Dudek,Stefan Wapnick,Travis Manderson,David Meger,Gregory Dudek
We present a reward-predictive, model-based learning method featuring trajectory-constrained visual attention for use in mapless, local visual navigation tasks. Our method learns to place visual attention at locations in latent image space which follow trajectories caused by vehicle control actions to later enhance predictive accuracy during planning. Our attention model is jointly optimized by th...
