[R] GOAT: GO to Any Thing

**Paper** :[https://arxiv.org/abs/2311.06430](https://arxiv.org/abs/2311.06430)

**Project page**: [https://theophilegervet.github.io/projects/goat/](https://theophilegervet.github.io/projects/goat/)

**Code**: [https://github.com/facebookresearch/home-robot](https://github.com/facebookresearch/home-robot)

**Abstract**:

>In deployment scenarios such as homes and warehouses, mobile robots are expected to autonomously navigate for extended periods, seamlessly executing tasks articulated in terms that are intuitively understandable by human operators. We present **GO To Any Thing** (**GOAT)**, a universal navigation system capable of tackling these requirements with three key features: a) Multimodal: it can tackle goals specified via category labels, target images, and language descriptions, b) Lifelong: it benefits from its …

abstract deployment features go to homes human machinelearning mobile multimodal navigation operators requirements robots tasks terms warehouses