1 Introduction Object Goal Navigation is a fundamental task for embodied agents to accomplish complex tasks in real-world environments.In this task,the agent is required to navigate to a specific target in unseen envi...1 Introduction Object Goal Navigation is a fundamental task for embodied agents to accomplish complex tasks in real-world environments.In this task,the agent is required to navigate to a specific target in unseen environments where prior maps are unavailable.Due to the target being invisible from the initial position,the agent needs to have the human-like ability to reason about the location of the target and conduct efficient exploration.To obtain this reasoning ability,reinforcement learning(RL)methods[1]adopted an end-to-end approach in the navigation process and modular-based methods[2]built an explicit map based on geometric and semantic observations.展开更多
基金National Natural Science Foundation of China(Grant No.62306247)the China Postdoctoral Science Foundation(2022M722630)the Sichuan Science and Technology Program(2024NSFSC1474,2024ZH CG0166).
文摘1 Introduction Object Goal Navigation is a fundamental task for embodied agents to accomplish complex tasks in real-world environments.In this task,the agent is required to navigate to a specific target in unseen environments where prior maps are unavailable.Due to the target being invisible from the initial position,the agent needs to have the human-like ability to reason about the location of the target and conduct efficient exploration.To obtain this reasoning ability,reinforcement learning(RL)methods[1]adopted an end-to-end approach in the navigation process and modular-based methods[2]built an explicit map based on geometric and semantic observations.
