Reasoning in Visual Navigation of End-to-end Trained Agents: A Dynamical Systems Approach

Progress in Embodied AI has made it possible for end-toend-trained agents to navigate in photo-realistic environments with high-level reasoning and zero-shot or languageconditioned behavior, but benchmarks are still dominated by simulation. In this work, we focus on the fine-grained behavior of fast-moving real robots and present a largescale experimental study involving 262 navigation episodes in a real environment with a physical robot, where we analyze the type of reasoning emerging from end-to-end training. In particular, we study the presence of realistic dynamics which the agent learned for open-loop forecasting, and their interplay with sensing. We analyze the way the agent uses latent memory to hold elements of the scene structure and information gathered during exploration. We probe the planning capabilities of the agent, and find in its memory evidence for somewhat precise plans over a limited horizon. Furthermore, we show in a post-hoc analysis that the value function learned by the agent relates to long-term planning. Put together, our experiments paint a new picture on how using tools from computer vision and sequential decision making have led to new capabilities in robotics and control. An interactive tool is available [here].