CVPR 2023 - 3D-Aware Object Goal Navigation via Simultaneous Exploration and Identification

In this episode we discuss 3D-Aware Object Goal Navigation via Simultaneous Exploration and Identification by Jiazhao Zhang, Liu Dai, Fanpeng Meng, Qingnan Fan, Xuelin Chen, Kai Xu, He Wang. The paper proposes a framework for object goal navigation in 3D environments using two sub-policies - corner-guided exploration policy and category-aware identification policy. Unlike other approaches that use 2D maps, scene graphs, or image sequences, this framework leverages fine-grained spatial information to improve ObjectNav capability. Through extensive experiments, the proposed framework outperforms other modular-based methods on Matterport3D and Gibson datasets while requiring significantly less computational cost for training. The code for the framework will be released to the community.