@inproceedings{44e181af34a2469ca5be946db4249c51,
title = "Target-based visual navigation with channel-aware network",
abstract = "Visual navigation is major content of robot control, especially those based on target. We propose a channel-aware deep siamese actor-critic network for target-based visual navigation task. Compared with previous target-driven network, our model can obtain a joint representation of siamese network's output feature by using distance fusion method, and the approach significantly accelerates convergence of model's training. We improve the model performance to make the agent reach the goal in shorter path during the navigation by inserting a modified Squeeze-and-Excitation block in siamese layers, in which way the model can take dependencies between visual feature channels into consideration.",
keywords = "AI2-THOR framework, Data fusion, Reinforcement learning, Siamese network, Squeeze-and-excitation",
author = "Huichao Li and Xuemei Ren and Yongfeng Lv",
note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 8th IEEE Data Driven Control and Learning Systems Conference, DDCLS 2019 ; Conference date: 24-05-2019 Through 27-05-2019",
year = "2019",
month = may,
doi = "10.1109/DDCLS.2019.8908912",
language = "English",
series = "Proceedings of 2019 IEEE 8th Data Driven Control and Learning Systems Conference, DDCLS 2019",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "838--843",
booktitle = "Proceedings of 2019 IEEE 8th Data Driven Control and Learning Systems Conference, DDCLS 2019",
address = "United States",
}