publication . Preprint . 2018

Active Neural Localization

Chaplot, Devendra Singh; Parisotto, Emilio; Salakhutdinov, Ruslan;
Open Access English
  • Published: 24 Jan 2018
Abstract
Localization is the problem of estimating the location of an autonomous agent from an observation and a map of the environment. Traditional methods of localization, which filter the belief based on the observations, are sub-optimal in the number of steps required, as they do not decide the actions taken by the agent. We propose "Active Neural Localizer", a fully differentiable neural network that learns to localize accurately and efficiently. The proposed model incorporates ideas of traditional filtering-based localization methods, by using a structured belief of the state with multiplicative interactions to propagate belief, and combines it with a policy model ...
Subjects
free text keywords: Computer Science - Learning, Computer Science - Artificial Intelligence, Computer Science - Robotics
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