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NavOne: One-Step Global Planning for Vision-Language Navigation on Top-Down Maps

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Dijia Zhan, Jinyi Li, Chenxi Zheng, Shaoyu Huang, Yong Li, Jie Tang, Xuemiao Xu

๐Ÿ’ก ๊ฐœ์š”

๊ธฐ์กด ๋น„์ „-์–ธ์–ด ๋‚ด๋น„๊ฒŒ์ด์…˜(VLN) ๋ฐฉ๋ฒ•๋ก ์€ ๋‹จ๊ณ„๋ณ„ ๋ฐฉ์‹์˜ ์˜ค๋ฅ˜ ๋ˆ„์  ๋ฐ ๋น„ํšจ์œจ์„ฑ ๋ฌธ์ œ๋ฅผ ๊ฒช์Šต๋‹ˆ๋‹ค. ๋ณธ ๋…ผ๋ฌธ์€ ๋ฏธ๋ฆฌ ๊ตฌ์ถ•๋œ ํƒ‘๋‹ค์šด ์ง€๋„๋ฅผ ํ™œ์šฉํ•˜์—ฌ, ๋ณต์žกํ•œ ๊ณต๊ฐ„ ์ถ”๋ก ์„ ๋ฐฉํ•ดํ•˜๋Š” ๊ธฐ์กด์˜ ์ ์ง„์  ๋ฐฉ์‹ ๋Œ€์‹ , ์›์Šคํ… ์ „์—ญ ๊ฒฝ๋กœ ๊ณ„ํš ๋ฌธ์ œ๋กœ VLN์„ ์žฌ์ •์˜ํ•˜๋Š” Top-Down VLN (TD-VLN)์„ ์ œ์•ˆํ•ฉ๋‹ˆ๋‹ค. ์ด๋ฅผ ์œ„ํ•ด, ๋‹ค์ค‘ ๋ชจ๋“œ ์ง€๋„์—์„œ ์กฐ๋ฐ€ํ•œ ๊ฒฝ๋กœ ํ™•๋ฅ ์„ ๋‹จ์ผ ์ˆœ๋ฐฉํ–ฅ ๊ณผ์ •์œผ๋กœ ์ง์ ‘ ์˜ˆ์ธกํ•˜๋Š” ํ†ตํ•ฉ ํ”„๋ ˆ์ž„์›Œํฌ์ธ NavOne์„ ๊ฐœ๋ฐœํ–ˆ์œผ๋ฉฐ, ์ด๋Š” ๊ธฐ์กด ์ง€๋„ ๊ธฐ๋ฐ˜ ๋ฐฉ๋ฒ• ๋Œ€๋น„ 8๋ฐฐ, ์‹œ์  ๊ธฐ๋ฐ˜ ๋ฐฉ๋ฒ• ๋Œ€๋น„ 80๋ฐฐ์˜ ๊ณ„ํš ์†๋„ ํ–ฅ์ƒ์„ ๋‹ฌ์„ฑํ–ˆ์Šต๋‹ˆ๋‹ค.

๐Ÿ”‘ ์‹œ์‚ฌ์  ๋ฐ ํ•œ๊ณ„

โ€ข
VLN ๋ฌธ์ œ๋ฅผ ํƒ‘๋‹ค์šด ์ง€๋„์—์„œ์˜ ์›์Šคํ… ์ „์—ญ ๊ฒฝ๋กœ ๊ณ„ํš ๋ฌธ์ œ๋กœ ์žฌ๊ตฌ์„ฑํ•˜์—ฌ ํšจ์œจ์„ฑ๊ณผ ์ •ํ™•์„ฑ์„ ํฌ๊ฒŒ ํ–ฅ์ƒ์‹œ์ผฐ์Šต๋‹ˆ๋‹ค.
โ€ข
Top-Down Map Fuser์™€ Attention Residuals๋ฅผ ํ™œ์šฉํ•œ NavOne ํ”„๋ ˆ์ž„์›Œํฌ๋Š” ๋‹ค์ค‘ ๋ชจ๋“œ ์ง€๋„ ์ •๋ณด๋ฅผ ํšจ๊ณผ์ ์œผ๋กœ ํ†ตํ•ฉํ•˜๊ณ  ๊ณต๊ฐ„์  ๊นŠ์ด ์ •๋ณด๋ฅผ ํ˜ผํ•ฉํ•˜๋Š” ๋ฐ ๊ธฐ์—ฌํ•ฉ๋‹ˆ๋‹ค.
โ€ข
์ œ์•ˆ๋œ ๋ฐฉ๋ฒ•๋ก ์€ R2R-TopDown ๋ฐ์ดํ„ฐ์…‹์—์„œ ์ตœ์‹  ์„ฑ๋Šฅ์„ ๋‹ฌ์„ฑํ•˜๊ณ  ์ƒ๋‹นํ•œ ์†๋„ ํ–ฅ์ƒ์„ ๋ณด์˜€์ง€๋งŒ, ์‹ค์ œ ๋ณต์žกํ•˜๊ณ  ๋™์ ์ธ ํ™˜๊ฒฝ์—์„œ์˜ ์ ์šฉ ๊ฐ€๋Šฅ์„ฑ ๋ฐ ์ง€๋„ ์ •๋ณด์˜ ์ •ํ™•์„ฑ ์˜์กด์„ฑ์— ๋Œ€ํ•œ ์ถ”๊ฐ€์ ์ธ ์—ฐ๊ตฌ๊ฐ€ ํ•„์š”ํ•ฉ๋‹ˆ๋‹ค.
๐Ÿ‘
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