GNM: A General Navigation Model to Drive Any Robot

Motivation

• Till now we have only focused on one Robot.

• How do we generalize this to different types of robots.

• Fundamental models for Navigation

Challenges

• Large variations in action space , robot configuration, Kinematic and Dynamic capabilities

Solution

• Use past 5 observations for Embodiment context for different robots.

• Normalized Actions

Policy

Using ViNG approach for Navigation

~/org-roam/gdrive/Notability/Rl/LLM and RL/ViNG.pdf