Instance-aware Exploration-Verification-Exploitation for Instance ImageGoal Navigation

arXiv:2402.17587v1 Announce Type: new
Abstract: As a new embodied vision task, Instance ImageGoal Navigation (IIN) aims to navigate to a specified object depicted by a goal image in an unexplored environment.
The main challenge of this task lies in identifying the target object from different viewpoints while rejecting similar distractors.
Existing ImageGoal Navigation methods usually adopt the simple Exploration-Exploitation framework and ignore the identification of specific instance during navigation.
In this work, we propose to imitate the human behaviour of …

abstract arxiv challenge cs.cv cs.ro embodied environment exploitation exploration image instance lies navigation type verification vision