מושגי ליבה
ORION framework enhances robot navigation through interactive personalized object identification.
תקציר
I. Introduction
Zero-Shot Object Navigation (ZSON) focuses on navigating to open-vocabulary objects in unseen environments.
Limitations include lack of user feedback consideration and personalized object identification.
II. Proposed ZIPON Task
ZIPON requires robots to navigate to personalized goal objects while engaging in conversations with users.
Evaluates agents on language interactivity and personalization awareness.
III. ORION Framework Overview
LLM-based framework for Open-world Interactive Personalized Navigation (ORION).
Sequential decision-making process involving perception, navigation, and communication modules.
IV. Experiments and Results
Examined impact of diverse user feedback forms on agent performance in simulated environments.
ORION outperformed baselines in success rate with different types of feedback.
V. Conclusion
ORION demonstrates the importance of language feedback in enhancing robot navigation efficiency and task success.
סטטיסטיקה
94.5%の成功率を示す人間の上限値が設定されています。
プロシージャルフィードバックは、成功率を最も大幅に向上させました。
オリオンは、他のベースラインよりも高い成功率を達成しました。