Open Access
IEEE Access, volume 8, pages 195608-195621
Real-Time Object Navigation With Deep Neural Networks and Hierarchical Reinforcement Learning
Publication type: Journal Article
Publication date: 2020-10-28
General Materials Science
General Engineering
General Computer Science
Abstract
In the last years, deep learning and reinforcement learning methods have significantly improved mobile robots in such fields as perception, navigation, and planning. But there are still gaps in applying these methods to real robots due to the low computational efficiency of recent neural network architectures and their poor adaptability to robotic experiments’ realities. In this article, we consider an important task in mobile robotics - navigation to an object using an RGB-D camera. We develop a new neural network framework for robot control that is fast and resistant to possible noise in sensors and actuators. We propose an original integration of semantic segmentation, mapping, localization, and reinforcement learning methods to improve the effectiveness of exploring the environment, finding the desired object, and quickly navigating to it. We created a new HISNav dataset based on the Habitat virtual environment, which allowed us to use simulation experiments to pre-train the model and then upload it to a real robot. Our architecture is adapted to work in a real-time environment and fully implements modern trends in this area.
Citations by journals
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3
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Lecture Notes in Networks and Systems
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Lecture Notes in Networks and Systems
3 publications, 11.11%
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Lecture Notes in Computer Science
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Lecture Notes in Computer Science
2 publications, 7.41%
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Procedia Computer Science
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Procedia Computer Science
1 publication, 3.7%
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Journal of Physics: Conference Series
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Journal of Physics: Conference Series
1 publication, 3.7%
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Studies in Computational Intelligence
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Studies in Computational Intelligence
1 publication, 3.7%
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SoftwareX
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SoftwareX
1 publication, 3.7%
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Automation and Remote Control
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Automation and Remote Control
1 publication, 3.7%
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IEEE Robotics and Automation Letters
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IEEE Robotics and Automation Letters
1 publication, 3.7%
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Journal of Real-Time Image Processing
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Journal of Real-Time Image Processing
1 publication, 3.7%
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Wireless Personal Communications
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Wireless Personal Communications
1 publication, 3.7%
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Robotics
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Robotics
1 publication, 3.7%
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Advances in Computational Intelligence and Robotics
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Advances in Computational Intelligence and Robotics
1 publication, 3.7%
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International Journal of Geographical Information Science
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International Journal of Geographical Information Science
1 publication, 3.7%
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Multimedia Tools and Applications
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1 publication, 3.7%
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Citations by publishers
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9
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Springer Nature
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Springer Nature
9 publications, 33.33%
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IEEE
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IEEE
4 publications, 14.81%
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Elsevier
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Elsevier
2 publications, 7.41%
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IOP Publishing
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IOP Publishing
1 publication, 3.7%
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Pleiades Publishing
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Pleiades Publishing
1 publication, 3.7%
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Multidisciplinary Digital Publishing Institute (MDPI)
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Multidisciplinary Digital Publishing Institute (MDPI)
1 publication, 3.7%
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IGI Global
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IGI Global
1 publication, 3.7%
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Taylor & Francis
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Taylor & Francis
1 publication, 3.7%
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- We do not take into account publications that without a DOI.
- Statistics recalculated only for publications connected to researchers, organizations and labs registered on the platform.
- Statistics recalculated weekly.
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Staroverov A. et al. Real-Time Object Navigation With Deep Neural Networks and Hierarchical Reinforcement Learning // IEEE Access. 2020. Vol. 8. pp. 195608-195621.
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Staroverov A., Yudin D., Belkin I., Adeshkin V., Solomentsev Y. K., Panov A. Real-Time Object Navigation With Deep Neural Networks and Hierarchical Reinforcement Learning // IEEE Access. 2020. Vol. 8. pp. 195608-195621.
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TY - JOUR
DO - 10.1109/ACCESS.2020.3034524
UR - https://doi.org/10.1109%2FACCESS.2020.3034524
TI - Real-Time Object Navigation With Deep Neural Networks and Hierarchical Reinforcement Learning
T2 - IEEE Access
AU - Staroverov, Aleksei
AU - Yudin, D.
AU - Belkin, Ilya
AU - Adeshkin, Vasily
AU - Solomentsev, Yaroslav K
AU - Panov, Aleksandr
PY - 2020
DA - 2020/10/28 00:00:00
PB - IEEE
SP - 195608-195621
VL - 8
SN - 2169-3536
ER -
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@article{2020_Staroverov,
author = {Aleksei Staroverov and D. Yudin and Ilya Belkin and Vasily Adeshkin and Yaroslav K Solomentsev and Aleksandr Panov},
title = {Real-Time Object Navigation With Deep Neural Networks and Hierarchical Reinforcement Learning},
journal = {IEEE Access},
year = {2020},
volume = {8},
publisher = {IEEE},
month = {oct},
url = {https://doi.org/10.1109%2FACCESS.2020.3034524},
pages = {195608--195621},
doi = {10.1109/ACCESS.2020.3034524}
}