The invention discloses a target-driven navigation method and device based on
context awareness and
imitation learning, and the method comprises the steps: recognizing an object instance of interest in an
image based on a target
detector DETR, and constructing an
object graph; based on context
perception graph reasoning, in the navigation process, dynamic context information such as images, actions and memories serves as guidance, object features are projected to hyperplanes of corresponding contexts by means of a TransH method at each
time step, the object relation is dynamically learned, and an
intelligent agent can better understand the complex environment. Based on visual representation of Transform, visual features and graph features are fused, and spatial
semantic information of the environment is better captured. Based on generative adversarial
imitation learning, a new dynamic reward function is designed, and an
intelligent agent is helped to avoid a
deadlock state in combination with environment rewards. Based on a standard asynchronous dominant actor-commentator
algorithm, an effective navigation strategy is trained by using a new reward function, and the navigation success rate and efficiency of the
intelligent agent in an unfamiliar environment are improved.