LOCOMOTION
LeCropFollow：非结构化农田导航的潜在空间规划
Felipe Tommaselli, Francisco Affonso, Arthur Pompeu, Gianluca Capezzuto, Arun Narenthiran Sivakumar, Girish Chowdhary, Marcelo Becker
- 发表年份
- 2026
- 访问权限
- 开放获取
摘要
本文提出LeCropFollow，一种基于学习潜在表示的视觉导航框架，通过自监督语义热图提取器和模型强化学习规划器，在非结构化农田中实现零样本迁移导航。实验表明，该方法在晚期玉米田的复杂行间环境中显著优于现有基线。
关键词
latent space planningagricultural robotmodel-based reinforcement learningunder-canopy navigationzero-shot transfer
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