Model-Based Imitation Learning For Monocular Vision-Based Navigation
Overview
This research presents a hybrid approach combining model-based planning with imitation learning for reliable navigation using a single monocular camera. The method employs a learned collision model to predict worst-case obstacle clearance distributions, which inform trajectory optimization via collision-risk costs. Human demonstrations are used to balance collision risk with task objectives and to optimize algorithmic parameters like warm starts. Experiments demonstrate highly reliable navigation in cluttered environments across different robot embodiments, achieving a substantial reduction in collision rates compared to recent end-to-end and model-based baselines.
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- arXiv Robotics — research abstractsSignalModel-Based Imitation Learning For Monocular Vision-Based Navigation
This research presents a hybrid approach combining model-based planning with imitation learning for reliable navigation using a single monocular camera. The method employs a learned collision model to predict worst-case obstacle clearance distributions, which inform trajectory optimization via collision-risk costs. Human demonstrations are used to balance collision risk with task objectives and to optimize algorithmic parameters like warm starts. Experiments demonstrate highly reliable navigation in cluttered environments across different robot embodiments, achieving a substantial reduction in collision rates compared to recent end-to-end and model-based baselines.
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