InFeR retrains imitation learning policies with a VIB loss for OOD failure detection and applies Grad-CAM to localize failure sources, enabling heuristic recovery in visual navigation without additional demonstrations.
The marathon 2: A navigation system,
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InFeR: Informed Failure Resilience in Learned Visual Navigation Control
InFeR retrains imitation learning policies with a VIB loss for OOD failure detection and applies Grad-CAM to localize failure sources, enabling heuristic recovery in visual navigation without additional demonstrations.