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arXiv · 2304.01192

Navigating to Objects Specified by Images

Jacob Krantz·Theophile Gervet·Karmesh Yadav·Austin Wang·Chris Paxton·Roozbeh Mottaghi·Dhruv Batra·Jitendra Malik·Stefan Lee·Devendra Singh Chaplot
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Abstract

Images are a convenient way to specify which particular object instance an embodied agent should navigate to. Solving this task requires semantic visual reasoning and exploration of unknown environments. We present a system that can perform this task in both simulation and the real world. Our modular method solves sub-tasks of exploration, goal instance re-identification, goal localization, and local navigation. We re-identify the goal instance in egocentric vision using feature-matching and localize the goal instance by projecting matched features to a map. Each sub-task is solved using off-the-shelf components requiring zero fine-tuning. On the HM3D InstanceImageNav benchmark, this system outperforms a baseline end-to-end RL policy 7x and a state-of-the-art ImageNav model 2.3x (56% vs 25% success). We deploy this system to a mobile robot platform and demonstrate effective real-world performance, achieving an 88% success rate across a home and an office environment.

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Jacob Krantz, Theophile Gervet, Karmesh Yadav, Austin Wang, Chris Paxton, Roozbeh Mottaghi, Dhruv Batra, Jitendra Malik, Stefan Lee, Devendra Singh Chaplot. 2023-04-03. Navigating to Objects Specified by Images. https://arxiv.org/abs/2304.01192

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