Core Concepts
Ada-NAV enhances sample efficiency in robotic navigation by dynamically adjusting trajectory length based on policy entropy.
Abstract
I. Introduction
Traditional navigation methods vs. RL in robotics.
Challenges of exploration in RL due to sparse rewards.
II. Problem Formulation
Markov Decision Process (MDP) definition.
Policy Gradient Algorithm for parameterized policies.
III. Proposed Approach: Adaptive Trajectory-Based Policy Learning
Connection between policy entropy and spectral gap.
Ada-NAV methodology for adaptive trajectory length.
IV. Experiments and Results
Evaluation metrics: Success rate, path length, elevation cost.
Comparison of Ada-NAV with fixed trajectory lengths in simulations and real-world experiments.
V. Conclusions, Limitations, and Future Works
Proposal of Ada-NAV for sample-efficient training in sparse reward settings.
VI. Appendix - Experimental Setup Details
Stats
Ada-NAVはナビゲーション成功率を18%向上させ、ナビゲーション経路長を20〜38%削減し、高度コストを9.32%減少させました。