SGN-CIRL combines SAC reinforcement learning, imitation learning, and curriculum learning with a CLIP-pooled 3D scene graph, reporting higher navigation success in Isaac Sim when the graph is used.
Sg-nav: Online 3d scene graph prompting for llm-based zero-shot object navigation,
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SGN-CIRL: Scene Graph-based Navigation with Curriculum, Imitation, and Reinforcement Learning
SGN-CIRL combines SAC reinforcement learning, imitation learning, and curriculum learning with a CLIP-pooled 3D scene graph, reporting higher navigation success in Isaac Sim when the graph is used.