相关论文: Auxiliary Tasks and Exploration Enable ObjectNav

Navigating and understanding the real world remains a key challenge in machine learning and inspires a great variety of research in areas such as language grounding, planning, navigation and computer vision. We propose an…

We present a novel approach for image-goal navigation, where an agent navigates with a goal image rather than accurate target information, which is more challenging. Our goal is to decouple the learning of navigation goal planning,…

Recent research efforts enable study for natural language grounded navigation in photo-realistic environments, e.g., following natural language instructions or dialog. However, existing methods tend to overfit training data in seen…

Autonomous agents operating in domains such as robotics or video game simulations must adapt to changing tasks without forgetting about the previous ones. This process called Continual Reinforcement Learning poses non-trivial difficulties,…

Object navigation (ObjectNav) requires an agent to navigate through unseen environments to find queried objects. Many previous methods attempted to solve this task by relying on supervised or reinforcement learning, where they are trained…

Visual navigation has received significant attention recently. Most of the prior works focus on predicting navigation actions based on semantic features extracted from visual encoders. However, these approaches often rely on large datasets…

Navigating to instance-level targets in complex environments is a challenging problem. Many existing zero-shot methods achieve strong performance by modeling the entire environment and leveraging large language models for scene…

We have observed significant progress in visual navigation for embodied agents. A common assumption in studying visual navigation is that the environments are static; this is a limiting assumption. Intelligent navigation may involve…

Real-world reinforcement learning (RL) environments, whether in robotics or industrial settings, often involve non-visual observations and require not only efficient but also reliable and thus interpretable and flexible RL approaches. To…

The goal of object navigation is to reach the expected objects according to visual information in the unseen environments. Previous works usually implement deep models to train an agent to predict actions in real-time. However, in the…

This paper addresses the Object Goal Navigation problem, where a robot must efficiently find a target object in an unknown environment. Existing implicit memory-based methods struggle with long-term memory retention and planning, while…

Vision-Language Navigation (VLN) is evolving from single-point pathfinding toward the more challenging Multi-Goal VLN. This task requires agents to accurately identify multiple entities while collaboratively reasoning over their…

We introduce LOG-Nav, an efficient layout-aware object-goal navigation approach designed for complex multi-room indoor environments. By planning hierarchically leveraging a global topologigal map with layout information and local imperative…

Vision-and-Language Navigation (VLN) agents are tasked with navigating an unseen environment using natural language instructions. In this work, we study if visual representations of sub-goals implied by the instructions can serve as…

Task-driven features learned by modern object detectors optimize end task loss yet often capture shortcut correlations that fail to reflect underlying annotation structure. Such representations limit transfer, interpretability, and…

To learn directed behaviors in complex environments, intelligent agents need to optimize objective functions. Various objectives are known for designing artificial agents, including task rewards and intrinsic motivation. However, it is…

Can an autonomous agent navigate in a new environment without building an explicit map? For the task of PointGoal navigation ('Go to $\Delta x$, $\Delta y$') under idealized settings (no RGB-D and actuation noise, perfect GPS+Compass), the…

This paper presents a framework for training an agent to actively request help in object-goal navigation tasks, with feedback indicating the location of the target object in its field of view. To make the agent more robust in scenarios…

Most recent work in goal oriented visual navigation resorts to large-scale machine learning in simulated environments. The main challenge lies in learning compact representations generalizable to unseen environments and in learning…

Object-goal navigation requires mobile robots to efficiently locate targets with visual and spatial information, yet existing methods struggle with generalization in unseen environments. Heuristic approaches with naive metrics fail in…