中国科学院机构知识库网格
Chinese Academy of Sciences Institutional Repositories Grid
Unbiased Model-Agnostic Metalearning Algorithm for Learning Target-Driven Visual Navigation Policy

文献类型:期刊论文

作者Xue TF(薛天放)1,2,3,4; Yu HB(于海斌)1,2,4
刊名Computational Intelligence and Neuroscience
出版日期2021
卷号2021页码:1-12
ISSN号1687-5265
产权排序1
英文摘要

As deep reinforcement learning methods have made great progress in the visual navigation field, metalearning-based algorithms are gaining more attention since they greatly improve the expansibility of moving agents. According to metatraining mechanism, typically an initial model is trained as a metalearner by existing navigation tasks and becomes well performed in new scenes through relatively few recursive trials. However, if a metalearner is overtrained on the former tasks, it may hardly achieve generalization on navigating in unfamiliar environments as the initial model turns out to be quite biased towards former ambient configuration. In order to train an impartial navigation model and enhance its generalization capability, we propose an Unbiased Model-Agnostic Metalearning (UMAML) algorithm towards target-driven visual navigation. Inspired by entropy-based methods, maximizing the uncertainty over output labels in classification tasks, we adopt inequality measures used in Economics as a concise metric to calculate the loss deviation across unfamiliar tasks. With succinctly minimizing the inequality of task losses, an unbiased navigation model without overperforming in particular scene types can be learnt based on Model-Agnostic Metalearning mechanism. The exploring agent complies with a more balanced update rule, able to gather navigation experience from training environments. Several experiments have been conducted, and results demonstrate that our approach outperforms other state-of-the-art metalearning navigation methods in generalization ability.

语种英语
资助机构National Key Research and Development Program of China under Grant 2018YFB1700200 ; National Natural Science Foundation of China under Grants 61803368, 61533015, 61972389, and 61903356 ; China Postdoctoral Science Foundation under Grant 2019M661156 ; Liaoning Provincial Natural Science Foundation of China under Grants 20180540114 and 20180520029 ; Youth Innovation Promotion Association CAS ; Independent Subject of State Key Laboratory of Robotics.
源URL[http://ir.sia.cn/handle/173321/30248]  
专题沈阳自动化研究所_工业控制网络与系统研究室
通讯作者Xue TF(薛天放)
作者单位1.Key Laboratory of Networked Control Systems, Chinese Academy of Sciences, Shenyang 110016, China
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
3.University of Chinese Academy of Sciences, Beijing 100049, China
4.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
推荐引用方式
GB/T 7714
Xue TF,Yu HB. Unbiased Model-Agnostic Metalearning Algorithm for Learning Target-Driven Visual Navigation Policy[J]. Computational Intelligence and Neuroscience,2021,2021:1-12.
APA Xue TF,&Yu HB.(2021).Unbiased Model-Agnostic Metalearning Algorithm for Learning Target-Driven Visual Navigation Policy.Computational Intelligence and Neuroscience,2021,1-12.
MLA Xue TF,et al."Unbiased Model-Agnostic Metalearning Algorithm for Learning Target-Driven Visual Navigation Policy".Computational Intelligence and Neuroscience 2021(2021):1-12.

入库方式: OAI收割

来源:沈阳自动化研究所

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