SEMNAV trains visual semantic navigation policies on semantic segmentation inputs rather than RGB, reports higher success rates in Habitat 2.0 on HM3D, and shows improved real-world transfer on robotic platforms.
Visual navigation using a webcam based on semantic segmentation for indoor robots,
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SEMNAV: Enhancing Visual Semantic Navigation in Robotics through Semantic Segmentation
SEMNAV trains visual semantic navigation policies on semantic segmentation inputs rather than RGB, reports higher success rates in Habitat 2.0 on HM3D, and shows improved real-world transfer on robotic platforms.