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Arxiv
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19
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ROCKET-2: Steering Visuomotor Policy via Cross-View Goal Alignment
- Researchers have introduced a new goal specification method called cross-view goal alignment to guide agent interactions in 3D environments.
- The method allows users to specify target objects using segmentation masks from their camera views, enhancing spatial reasoning abilities of the agent.
- ROCKET-2, a state-of-the-art agent trained in Minecraft, demonstrates improved efficiency and zero-shot generalization capabilities to other 3D environments like Doom, DMLab, and Unreal.
- The development of ROCKET-2 includes auxiliary objectives like cross-view consistency loss and target visibility loss to align the agent's behavior with human intent when there are significant differences in camera views.
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