PointGoal Navigation
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Benchmarks
Most implemented
Habitat: A Platform for Embodied AI Research
DD-PPO: Learning Near-Perfect PointGoal Navigators from 2.5 Billion Frames
Sim2Real Predictivity: Does Evaluation in Simulation Predict Real-World Performance?
Habitat-Matterport 3D Dataset (HM3D): 1000 Large-scale 3D Environments for Embodied AI
Learning to Explore using Active Neural SLAM
Papers
Robust Scene Transfer for PointGoal Navigation via Privileged Sensor Guided Contrastive Learning
We propose a sensor-guided adaptive contrastive learning framework for visual representation learning in PointGoal navigation. During training, privileged LiDAR sensing guides the contrastive objective through a geometry…
Representation LearningReinforcement LearningContrastive LearningPointGoal NavigationIndustryNav: Exploring Spatial Reasoning of Embodied Agents in Dynamic Industrial Navigation
While Visual Large Language Models (VLLMs) show great promise as embodied agents, they continue to face substantial challenges in spatial reasoning. Existing embodied benchmarks largely focus on passive, static household…
PointGoal NavigationCollision AvoidanceSpatial ReasoningTANGO: Training-free Embodied AI Agents for Open-world Tasks
Large Language Models (LLMs) have demonstrated excellent capabilities in composing various modules together to create programs that can perform complex reasoning tasks on images. In this paper, we propose TANGO, an appro…
Embodied Question AnsweringObjectGoal NavigationPointGoal NavigationQuestion AnsweringMPVO: Motion-Prior based Visual Odometry for PointGoal Navigation
Visual odometry (VO) is essential for enabling accurate point-goal navigation of embodied agents in indoor environments where GPS and compass sensors are unreliable and inaccurate. However, traditional VO methods face ch…
PointGoal NavigationVisual OdometryMOPA: Modular Object Navigation with PointGoal Agents
We propose a simple but effective modular approach MOPA (Modular ObjectNav with PointGoal agents) to systematically investigate the inherent modularity of the object navigation task in Embodied AI. MOPA consists of four …
NavigateObjectobject-detectionObject Detection+1Emergence of Maps in the Memories of Blind Navigation Agents
Animal navigation research posits that organisms build and maintain internal spatial representations, or maps, of their environment. We ask if machines -- specifically, artificial intelligence (AI) navigation agents -- a…
Inductive BiasPointGoal Navigation