{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/robust-navigation-with-cross-modal-fusion-and","title":"Robust Navigation with Cross-Modal Fusion and Knowledge Transfer","arxiv_id":"2309.13266","date":"2023-09-23","proceeding":null,"authors":["Wenzhe Cai","Guangran Cheng","Lingyue Kong","Lu Dong","Changyin Sun"],"abstract":"Recently, learning-based approaches show promising results in navigation tasks. However, the poor generalization capability and the simulation-reality gap prevent a wide range of applications. We consider the problem of improving the generalization of mobile robots and achieving sim-to-real transfer for navigation skills. To that end, we propose a cross-modal fusion method and a knowledge transfer framework for better generalization. This is realized by a teacher-student distillation architecture. The teacher learns a discriminative representation and the near-perfect policy in an ideal environment. By imitating the behavior and representation of the teacher, the student is able to align the features from noisy multi-modal input and reduce the influence of variations on navigation policy. We evaluate our method in simulated and real-world environments. Experiments show that our method outperforms the baselines by a large margin and achieves robust navigation performance with varying working conditions.","url_abs":"https://arxiv.org/abs/2309.13266v1","url_pdf":"https://arxiv.org/pdf/2309.13266v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"robust-navigation-with-cross-modal-fusion-and","repo_url":"https://github.com/wzcai99/Distill-Navigator","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"transfer-learning","task_name":"Transfer Learning"}],"methods":[{"method_slug":"align","method_name":"ALIGN"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}