Combining Imitation Learning and Reinforcement Learning for Visual-Language Navigation Agents

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559

(2)



_





 _         ∈



      ∈     _ _ _ _ _

_ _ cos sin cos sin



_



_{  }  _

_

_

_

    _       _ _ _ _ _ _ _  _  _  

560

-2020 온라인 춘계학술발표대회 논문집 제27권 제1호 (-2020. 5)

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_  _log   _{ } _ _  __ log   _{ } _ _  _ _ _ ∇ _{ }

_

    log_    _   _  _



    log    _ _   _  _ _   _    



    if _{  }≡_and_ ≤  if   ≡and   if _ and_    _ _  _        if ∃∈⇒≤  or ∃_∈__{  }⇒ __{  }⊥__ __≤     _  _ _ _  __{ } _ _  _ _ _ _  _ _   _    _ _ _  _   _ _ _ _  _   _ _ _ _ _ _ 



 i f          _ 

561

(4)

       

562