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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 ์€ ์˜ค๋ฅ˜ ๋ˆ„์  ๋ฐ ๋น„ํšจ์œจ์„ฑ ๋ฌธ์ œ๋ฅผ ๊ฒช๋Š” ๋‹จ๊ณ„๋ณ„ ์ ‘๊ทผ ๋ฐฉ์‹์„ ์‚ฌ์šฉํ•ฉ๋‹ˆ๋‹ค. ๋ณธ ๋…ผ๋ฌธ์€ ์‚ฌ์ „ ๊ตฌ์ถ•๋œ ์ „์—ญ ์ง€๋„๋ฅผ ํ™œ์šฉํ•˜์—ฌ ๋‚ด๋น„๊ฒŒ์ด์…˜์„ ํ•˜๋‚˜์˜ ๋‹จ๊ณ„๋กœ ํ†ตํ•ฉํ•˜๋Š” ์ƒˆ๋กœ์šด Top-Down VLN(TD-VLN) ํŒจ๋Ÿฌ๋‹ค์ž„์„ ์ œ์•ˆํ•ฉ๋‹ˆ๋‹ค. ์ด๋ฅผ ์œ„ํ•ด ์ œ์•ˆ๋œ NavOne ํ”„๋ ˆ์ž„์›Œํฌ๋Š” ๋‹ค์ค‘ ๋ชจ๋“œ ์ง€๋„์—์„œ ๋‹จ์ผ ์ˆœ๋ฐฉํ–ฅ ํŒจ์Šค๋กœ ๊ฒฝ๋กœ ํ™•๋ฅ ์„ ์ง์ ‘ ์˜ˆ์ธกํ•˜์—ฌ ํšจ์œจ์ ์ธ ์ „์—ญ ๊ฒฝ๋กœ ๊ณ„ํš์„ ๋‹ฌ์„ฑํ•ฉ๋‹ˆ๋‹ค.

๐Ÿ”‘ ์‹œ์‚ฌ์  ๋ฐ ํ•œ๊ณ„

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์ „์—ญ์ ์ด๊ณ  ํšจ์œจ์ ์ธ ๊ฒฝ๋กœ ๊ณ„ํš: NavOne์€ ๊ธฐ์กด์˜ ๋‹จ๊ณ„๋ณ„ VLN ๋ฐฉ์‹์˜ ์˜ค๋ฅ˜ ๋ˆ„์  ๋ฌธ์ œ๋ฅผ ํ•ด๊ฒฐํ•˜๊ณ , 8๋ฐฐ์˜ ์†๋„ ํ–ฅ์ƒ์„ ํ†ตํ•ด ํšจ์œจ์ ์ธ ์ „์—ญ ๊ฒฝ๋กœ ๊ณ„ํš์„ ๊ฐ€๋Šฅํ•˜๊ฒŒ ํ•ฉ๋‹ˆ๋‹ค.
โ€ข
์ƒˆ๋กœ์šด TD-VLN ํŒจ๋Ÿฌ๋‹ค์ž„ ๋ฐ ๋ฐ์ดํ„ฐ์…‹: Top-Down Map Fuser์™€ Attention Residuals๋ฅผ ํฌํ•จํ•˜๋Š” NavOne์€ ์ƒˆ๋กญ๊ฒŒ ๊ตฌ์ถ•๋œ R2R-TopDown ๋ฐ์ดํ„ฐ์…‹์—์„œ ํšจ๊ณผ์ ์ธ ์„ฑ๋Šฅ์„ ์ž…์ฆํ•˜๋ฉฐ TD-VLN ๋ถ„์•ผ์˜ ๋ฐœ์ „์— ๊ธฐ์—ฌํ•ฉ๋‹ˆ๋‹ค.
โ€ข
์ง€๋„ ์ •๋ณด ์˜์กด์„ฑ ๋ฐ ์ผ๋ฐ˜ํ™”: ์ œ์•ˆ๋œ ๋ฐฉ๋ฒ•๋ก ์€ ์‚ฌ์ „ ๊ตฌ์ถ•๋œ ์ „์—ญ ์ง€๋„ ์ •๋ณด์— ์˜์กดํ•˜๋ฏ€๋กœ, ์ง€๋„ ์ •๋ณด๊ฐ€ ๋ถ€์กฑํ•˜๊ฑฐ๋‚˜ ๋™์ ์œผ๋กœ ๋ณ€ํ™”ํ•˜๋Š” ํ™˜๊ฒฝ์—์„œ์˜ ์ ์šฉ ๊ฐ€๋Šฅ์„ฑ์— ๋Œ€ํ•œ ์ถ”๊ฐ€ ์—ฐ๊ตฌ๊ฐ€ ํ•„์š”ํ•ฉ๋‹ˆ๋‹ค.
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