Navigation Agents for the Visually Impaired: A Sidewalk Simulator and Experiments

arXiv:1910.13249 · cs.CV, cs.HC, cs.LG · Submitted 2019-10-29 · Read on arXiv

cs.CV, cs.HC, cs.LG

Submitted: 2019-10-29

Updated: 2019-10-29

Comments: Accepted at CoRL2019. Code & video available at https://mweiss17.github.io/SEVN/

Journal ref: Proceedings of the Conference on Robot Learning (CoRL 2019), PMLR 100, pp. 1314-1327

Code: https://github.com/mweiss17/SEVN

Project page: https://mweiss17.github.io/SEVN

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Reinforcement Learning — 8× in this paper · explained in 4 episodes
• Ablation — 5× in this paper · explained in 1 episode
• Generalization — 4× in this paper · explained in 13 episodes
• Action Space — 3× in this paper · explained in 1 episode
• Reinforcement Learning (RL) — 3× in this paper · explained in 25 episodes
• Ablation study — 2× in this paper · explained in 1 episode
• Benchmark — 2× in this paper · explained in 2 episodes
• Field of View — 2× in this paper
• Proximal Policy Optimization — 2× in this paper
• Accuracy — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 3 episodes
• Core — 1× in this paper · explained in 2 episodes
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Deep Reinforcement Learning (DRL) — 1× in this paper · explained in 2 episodes
• Edge Devices — 1× in this paper · explained in 2 episodes
• Embeddings — 1× in this paper · explained in 2 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Frames Per Second — 1× in this paper
• Human-in-the-Loop — 1× in this paper · explained in 3 episodes
• In Computer Vision and Pattern Recognition — 1× in this paper
• Multimodal Fusion — 1× in this paper · explained in 3 episodes
• Proximal Policy Optimization (PPO) — 1× in this paper · explained in 4 episodes
• Sidewalk Environment for Visual Navigation — 1× in this paper
• Simultaneous Localization and Mapping — 1× in this paper
• Sparsity — 1× in this paper · explained in 4 episodes

Sources

• CARLA: An Open Urban Driving Simulator
• AirSim: High-Fidelity Visual and Physical Simulation for Autonomous Vehicles
• Proximal Policy Optimization Algorithms
• Multimodal Interaction-aware Motion Prediction for Autonomous Street Crossing
• Learning to Navigate in Cities Without a Map
• DeepNav: Learning to Navigate Large Cities
• Synthetic Data and Artificial Neural Networks for Natural Scene Text Recognition
• Pyramid Mask Text Detector

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