HTNav combines imitation and reinforcement learning in a staged, tiered structure with map learning to reach state-of-the-art performance on the CityNav benchmark for urban aerial navigation.
CityNav: A large-scale dataset for real-world aerial navigation
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HTNav: A Hybrid Navigation Framework with Tiered Structure for Urban Aerial Vision-and-Language Navigation
HTNav combines imitation and reinforcement learning in a staged, tiered structure with map learning to reach state-of-the-art performance on the CityNav benchmark for urban aerial navigation.