Scalable Spatial Memory for Scene Rendering and Navigation
نویسندگان
چکیده
Neural scene representation and rendering methods have shown promise in learning the implicit form of structure without supervision. However, learned most existing is non-expandable cannot be inferred online for novel scenes, which makes difficult to applied across different reinforcement (RL) tasks. In this work, we introduce Scene Memory Network (SMN) achieve spatial memory construction expansion view scenes. SMN models camera projection back-projection as spatially aware control processes, where values store information partial 3D area, keys indicate position that area. The controller can learn geometry property from observations camera's intrinsic parameters depth We further apply constructed by exploration navigation experimental results reveal generalization ability our proposed large-scale synthesis its potential improve performance RL
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ژورنال
عنوان ژورنال: Proceedings of the ... AAAI Conference on Artificial Intelligence
سال: 2023
ISSN: ['2159-5399', '2374-3468']
DOI: https://doi.org/10.1609/aaai.v37i1.25110