ObjectNav Revisited: On Evaluation of Embodied Agents Navigating to Objects

06/23/2020
by   Dhruv Batra, et al.
34

We revisit the problem of Object-Goal Navigation (ObjectNav). In its simplest form, ObjectNav is defined as the task of navigating to an object, specified by its label, in an unexplored environment. In particular, the agent is initialized at a random location and pose in an environment and asked to find an instance of an object category, e.g., find a chair, by navigating to it. As the community begins to show increased interest in semantic goal specification for navigation tasks, a number of different often-inconsistent interpretations of this task are emerging. This document summarizes the consensus recommendations of this working group on ObjectNav. In particular, we make recommendations on subtle but important details of evaluation criteria (for measuring success when navigating towards a target object), the agent's embodiment parameters, and the characteristics of the environments within which the task is carried out. Finally, we provide a detailed description of the instantiation of these recommendations in challenges organized at the Embodied AI workshop at CVPR 2020 <http://embodied-ai.org> .

READ FULL TEXT

page 2

page 7

07/18/2018

On Evaluation of Embodied Navigation Agents

Skillful mobile operation in three-dimensional environments is a primary...
11/03/2020

Rearrangement: A Challenge for Embodied AI

We describe a framework for research and evaluation in Embodied AI. Our ...
06/24/2022

ZSON: Zero-Shot Object-Goal Navigation using Multimodal Goal Embeddings

We present a scalable approach for learning open-world object-goal navig...
12/07/2020

MultiON: Benchmarking Semantic Map Memory using Multi-Object Navigation

Navigation tasks in photorealistic 3D environments are challenging becau...
03/15/2022

Object Manipulation via Visual Target Localization

Object manipulation is a critical skill required for Embodied AI agents ...
11/03/2020

Guided Navigation from Multiple Viewpoints using Qualitative Spatial Reasoning

Navigation is an essential ability for mobile agents to be completely au...

Code Repositories

habitat-challenge

Code for the habitat challenge


view repo

multion-challenge

Starter code and instructions for participating in MultiON Challenge 2021.


view repo