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IEEE/ICACT20230029 Slide.17        [Big Slide]	Oral Presentation
	In conclusion, We analyze FILM¡¯s drawbacks and discuss how to improve the performance by modifying the deterministic policy. These are the main contributions. 1. The use of visual observation reduces the reliance on the semantic map. 2. The agent can search for the target object by opening closed receptacles through active search. 3. We provide minor adjustment to overcome some semantic segmentation errors. Therefore, We succeed in improving the performance by a little margin, showing that modifying deterministic method can improve the model without any learn-based method.

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