UAS Visual Navigation in Large and Unseen Environments via a Meta Agent

Abstract

Abstract. The aim of this work is to develop an approach that enables Unmanned Aerial System (UAS) to efficiently learn to navigate in large-scale urban environments and transfer their acquired expertise to novel environments. To achieve this, we propose a metacurriculum training scheme. First, meta-training allows the agent to learn a master policy to generalize across tasks. The resulting model is then fine-tuned on the downstream tasks. We organize the training curriculum in a hierarchical manner such that the agent is guided from coarse to fine towards the target task. In addition, we introduce Incremental Self-Adaptive Reinforcement learning (ISAR), an algorithm that combines the ideas of incremental learning and meta-reinforcement learning (MRL). In contrast to traditional reinforcement learning (RL), which focuses on acquiring a policy for a specific task, MRL aims to learn a policy with fast transfer ability to novel tasks. However, the MRL training process is time consuming, whereas our proposed ISAR algorithm achieves faster convergence than the conventional MRL algorithm. We evaluate the proposed methodologies in simulated environments and demonstrate that using this training philosophy in conjunction with the ISAR algorithm significantly improves the convergence speed for navigation in large-scale cities and the adaptation proficiency in novel environments. The project page is publicly available at https://superhan2611.github.io/isar_nav/.