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
其他版本
除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。