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devendrachaplot / Neural-SLAM

Pytorch code for ICLR-20 Paper "Learning to Explore using Active Neural SLAM"
http://www.cs.cmu.edu/~dchaplot/projects/neural-slam.html
MIT License
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Code question of fmm_planner.py #10

Closed rainbow979 closed 4 years ago

rainbow979 commented 4 years ago

The function get_short_term_goal: I don't understand why the code needs subset? I think this function is to find a minium distance to the global goal in a local zone, right?

devendrachaplot commented 4 years ago

The subset is used to find the short-term goal in an area around the agent. The short-term goal location is passed to the Local Policy for taking navigational actions. You can check the corresponding paper for details on the modules in the Active Neural SLAM model:

https://openreview.net/pdf?id=HklXn1BKDH