In this paper, we introduce the map-language navigation task where an agent executes natural language instructions and moves to the target position based only on a given 3D semantic map. To tackle the task, we design the instruction-aware Path Proposal and Discrimination model (iPPD). Our approach leverages map information to provide instruction-aware path proposals, i.e., it selects all potential instruction-aligned candidate paths to reduce the solution space. Next, to represent the map observations along a path for a better modality alignment, a novel Path Feature Encoding scheme tailored for semantic maps is proposed. An attention-based Language Driven Discriminator is designed to evaluate path candidates and determine the best path as the final result. Our method can naturally avoid error accumulation compared with single-step greedy decision methods. Comparing to a single-step imitation learning approach, iPPD has performance gains above 17% on navigation success and 0.18 on path matching measurement nDTW in challenging unseen environments.
Learning-guided Kansa collocation for forward and inverse PDEs beyond linearity
Department of Computer Science and Technology（计算机科学与技术系）；Department of Applied Mathematics and Theoretical Physics（应用数学与理论物理系）；University of Cambridge（剑桥大学）
3-D Magnetotelluric Deep Learning Inversion Guided by Pseudo-Physical Information
Key Laboratory of Earth Exploration and Information Techniques of Ministry of Education, College of Geophysics, Chengdu University of Technology（教育部地球探测与信息技术重点实验室，成都理工大学地球物理学院）；College of Computer Science and Cyber Security, Chengdu University of Technology（成都理工大学计算机科学与网络security学院）
