mlsanityData to 14 Oct 2026

MINOS: Multimodal Indoor Simulator for Navigation in Complex Environments

arXiv 1712.03931 ↗First posted 11 Dec 2017cs.LG cs.AI cs.CVcited by 66

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Abstract (arXiv)

We present MINOS, a simulator designed to support the development of multisensory models for goal-directed navigation in complex indoor environments. The simulator leverages large datasets of complex 3D environments and supports flexible configuration of multimodal sensor suites. We use MINOS to benchmark deep-learning-based navigation methods, to analyze the influence of environmental complexity on navigation performance, and to carry out a controlled study of multimodality in sensorimotor learning. The experiments show that current deep reinforcement learning approaches fail in large realistic environments. The experiments also indicate that multimodality is beneficial in learning to navigate cluttered scenes. MINOS is released open-source to the research community at http://minosworld.org . A video that shows MINOS can be found at https://youtu.be/c0mL9K64q84

Key facts. Cited by 66 papers in the map (data through 14 Oct 2026). First posted on arXiv 11 Dec 2017.

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Citing papers per year: 2018: 2; 2019: 0; 2020: 0; 2021: 18; 2022: 21; 2023: 9; 2024: 8; 2025: 4; 2026: 4.

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  1. 2021Habitat 2.0: Training Home Assistants to Rearrange their Habitatcited by 511
  2. 2022LM-Nav: Robotic Navigation with Large Pre-Trained Models of Language, Vision, and Actioncited by 439
  3. 2018Reinforced Cross-Modal Matching and Self-Supervised Imitation Learning for Vision-Language Navigationcited by 305
  4. 2022CoWs on Pasture: Baselines and Benchmarks for Language-Driven Zero-Shot Object Navigationcited by 194
  5. 2024Aligning Cyber Space with Physical World: A Comprehensive Survey on Embodied AIcited by 179
  6. 2024Agent AI: Surveying the Horizons of Multimodal Interactioncited by 170
  7. 2022Ditto: Building Digital Twins of Articulated Objects from Interactioncited by 156
  8. 2022PONI: Potential Functions for ObjectGoal Navigation with Interaction-free Learningcited by 150
  9. 2023Language Models Meet World Models: Embodied Experiences Enhance Language Modelscited by 124
  10. 2021SOON: Scenario Oriented Object Navigation with Graph-based Explorationcited by 119
  11. 2022Habitat-Web: Learning Embodied Object-Search Strategies from Human Demonstrations at Scalecited by 117
  12. 2022Navigating to Objects in the Real Worldcited by 106
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  1. 2021ClevrTex: A Texture-Rich Benchmark for Unsupervised Multi-Object Segmentationcited by 93
  2. 2022Learning-based Inverse Rendering of Complex Indoor Scenes with Differentiable Monte Carlo Raytracingcited by 78
  3. 2018Vision-based Navigation with Language-based Assistance via Imitation Learning with Indirect Interventioncited by 77
  4. 2021GeoSim: Realistic Video Simulation via Geometry-Aware Composition for Self-Drivingcited by 75
  5. 2022Zero Experience Required: Plug & Play Modular Transfer Learning for Semantic Visual Navigationcited by 67
  6. 2023How To Not Train Your Dragon: Training-free Embodied Object Goal Navigation with Semantic Frontierscited by 54
  7. 2022Retrospectives on the Embodied AI Workshopcited by 46
  8. 2021CORA: Benchmarks, Baselines, and Metrics as a Platform for Continual Reinforcement Learning Agentscited by 38
  9. 2022Uncertainty-driven Planner for Exploration and Navigationcited by 33
  10. 2024HAZARD Challenge: Embodied Decision Making in Dynamically Changing Environmentscited by 32
  11. 2021Core Challenges in Embodied Vision-Language Planningcited by 30
  12. 2022Cross-View Cross-Scene Multi-View Crowd Countingcited by 28
  13. 2021The Surprising Effectiveness of Visual Odometry Techniques for Embodied PointGoal Navigationcited by 27
  14. 2024TANGO: Training-free Embodied AI Agents for Open-world Taskscited by 27
  15. 2021Megaverse: Simulating Embodied Agents at One Million Experiences per Secondcited by 20
  16. 2021Large Batch Simulation for Deep Reinforcement Learningcited by 19
  17. 2022Distributed Reinforcement Learning for Robot Teams: A Reviewcited by 16
  18. 2022HandoverSim: A Simulation Framework and Benchmark for Human-to-Robot Object Handoverscited by 15
  19. 2024Instance-aware Exploration-Verification-Exploitation for Instance ImageGoal Navigationcited by 15
  20. 2022Unsupervised Kinematic Motion Detection for Part-segmented 3D Shape Collectionscited by 13
  21. 2025Virtual Community: An Open World for Humans, Robots, and Societycited by 13
  22. 2021MaAST: Map Attention with Semantic Transformersfor Efficient Visual Navigationcited by 11
  23. 2022Online Learning of Reusable Abstract Models for Object Goal Navigationcited by 9
  24. 2024Anything in Any Scene: Photorealistic Video Object Insertioncited by 9
  25. 2021360-DFPE: Leveraging Monocular 360-Layouts for Direct Floor Plan Estimationcited by 8
  26. 2022SimVQA: Exploring Simulated Environments for Visual Question Answeringcited by 8
  27. 2021Communicative Learning with Natural Gestures for Embodied Navigation Agents with Human-in-the-Scenecited by 7
  28. 2021Embodied AI-Driven Operation of Smart Cities: A Concise Reviewcited by 6
  29. 2022GraphMapper: Efficient Visual Navigation by Scene Graph Generationcited by 6
  30. 2023Modality-invariant Visual Odometry for Embodied Visioncited by 6
  31. 2023360 Layout Estimation via Orthogonal Planes Disentanglement and Multi-view Geometric Consistency Perceptioncited by 5
  32. 2022360-MLC: Multi-view Layout Consistency for Self-training and Hyper-parameter Tuningcited by 4
  33. 2022Self-Supervised Object Goal Navigation with In-Situ Finetuningcited by 4
  34. 2025VL-Nav: Neuro-Symbolic Reasoning-based Vision-Language Navigationcited by 4
  35. 2025VPN: Visual Prompt Navigationcited by 4
  36. 2025TongSIM: A General Platform for Simulating Intelligent Machinescited by 4
  37. 2026SPEAR: A Simulator for Photorealistic Embodied AI Researchcited by 4
  38. 2021Robust 360-8PA: Redesigning The Normalized 8-point Algorithm for 360-FoV Imagescited by 3

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