3D Trajectory Generation

3-stage trajectory generation pipeline

Overview

Built a robust pipeline to generate diverse 3D navigation paths in the Habitat simulator for training vision-language navigation policies on aerial robots.

Key Features

  • 3D Path Generation: Robust pipeline for generating various 3D trajectories in Habitat
  • Aerial Navigation: Overcame simulator limitations originally designed for ground robots
  • Obstacle Detection: Designed robust 3D obstacle detection for drone navigation
  • General Policy: Trained a strong and generalizable navigation policy for drones