mlsanityData to 7 Oct 2026

On Evaluation of Embodied Navigation Agents

arXiv 1807.06757 ↗First posted 18 Jul 2018cs.AI cs.CV cs.LGcited by 526

Not on the map. Why?

Cited by 35 in Multimodal LLMs / vision-language models, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

Skillful mobile operation in three-dimensional environments is a primary topic of study in Artificial Intelligence. The past two years have seen a surge of creative work on navigation. This creative output has produced a plethora of sometimes incompatible task definitions and evaluation protocols. To coordinate ongoing and future research in this area, we have convened a working group to study empirical methodology in navigation research. The present document summarizes the consensus recommendations of this working group. We discuss different problem statements and the role of generalization, present evaluation measures, and provide standard scenarios that can be used for benchmarking.

Key facts. Cited by 526 papers in the map (data through 7 Oct 2026). First posted on arXiv 18 Jul 2018.

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Citing papers per year: 2018: 1; 2019: 1; 2020: 3; 2021: 78; 2022: 97; 2023: 85; 2024: 94; 2025: 67; 2026: 100.

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  1. 2021Habitat-Matterport 3D Dataset (HM3D): 1000 Large-scale 3D Environments for Embodied AIcited by 579
  2. 2021Habitat 2.0: Training Home Assistants to Rearrange their Habitatcited by 501
  3. 2022ProcTHOR: Large-Scale Embodied AI Using Procedural Generationcited by 369
  4. 2022Visual Language Maps for Robot Navigationcited by 362
  5. 2018Reinforced Cross-Modal Matching and Self-Supervised Imitation Learning for Vision-Language Navigationcited by 304
  6. 2021History Aware Multimodal Transformer for Vision-and-Language Navigationcited by 268
  7. 2021A Survey of Embodied AI: From Simulators to Research Taskscited by 256
  8. 2023RVT: Robotic View Transformer for 3D Object Manipulationcited by 224
  9. 2024NaVid: Video-based VLM Plans the Next Step for Vision-and-Language Navigationcited by 222
  10. 2023Habitat 3.0: A Co-Habitat for Humans, Avatars and Robotscited by 220
  11. 2022Interactive Language: Talking to Robots in Real Timecited by 217
  12. 2023ViNT: A Foundation Model for Visual Navigationcited by 210
38 more
  1. 2023VLFM: Vision-Language Frontier Maps for Zero-Shot Semantic Navigationcited by 201
  2. 2022Think Global, Act Local: Dual-scale Graph Transformer for Vision-and-Language Navigationcited by 187
  3. 2022ZSON: Zero-Shot Object-Goal Navigation using Multimodal Goal Embeddingscited by 177
  4. 2024Agent AI: Surveying the Horizons of Multimodal Interactioncited by 167
  5. 2023ETPNav: Evolving Topological Planning for Vision-Language Navigation in Continuous Environmentscited by 165
  6. 2022GNM: A General Navigation Model to Drive Any Robotcited by 161
  7. 2022Open-vocabulary Queryable Scene Representations for Real World Planningcited by 159
  8. 2021Episodic Transformer for Vision-and-Language Navigationcited by 155
  9. 2022PONI: Potential Functions for ObjectGoal Navigation with Interaction-free Learningcited by 149
  10. 2024Uni-NaVid: A Video-based Vision-Language-Action Model for Unifying Embodied Navigation Taskscited by 146
  11. 2023Towards Learning a Generalist Model for Embodied Navigationcited by 135
  12. 2021Airbert: In-domain Pretraining for Vision-and-Language Navigationcited by 129
  13. 2023Q-Transformer: Scalable Offline Reinforcement Learning via Autoregressive Q-Functionscited by 129
  14. 2022Bridging the Gap Between Learning in Discrete and Continuous Environments for Vision-and-Language Navigationcited by 127
  15. 2023ESC: Exploration with Soft Commonsense Constraints for Zero-shot Object Navigationcited by 126
  16. 2021Waypoint Models for Instruction-guided Navigation in Continuous Environmentscited by 125
  17. 2025GraspVLA: a Grasping Foundation Model Pre-trained on Billion-scale Synthetic Action Datacited by 120
  18. 2021FILM: Following Instructions in Language with Modular Methodscited by 119
  19. 2021SOON: Scenario Oriented Object Navigation with Graph-based Explorationcited by 118
  20. 2021Pathdreamer: A World Model for Indoor Navigationcited by 117
  21. 2022BEVBert: Multimodal Map Pre-training for Language-guided Navigationcited by 117
  22. 2022Vision-and-Language Navigation: A Survey of Tasks, Methods, and Future Directionscited by 116
  23. 2022Habitat-Web: Learning Embodied Object-Search Strategies from Human Demonstrations at Scalecited by 116
  24. 2023Scaling Data Generation in Vision-and-Language Navigationcited by 115
  25. 2022Habitat-Matterport 3D Semantics Datasetcited by 109
  26. 2022Navigating to Objects in the Real Worldcited by 104
  27. 2021Visual Room Rearrangementcited by 101
  28. 2021ManipulaTHOR: A Framework for Visual Object Manipulationcited by 101
  29. 2019Help, Anna! Visual Navigation with Natural Multimodal Assistance via Retrospective Curiosity-Encouraging Imitation Learningcited by 100
  30. 2024NavGPT-2: Unleashing Navigational Reasoning Capability for Large Vision-Language Modelscited by 96
  31. 2021Structured Scene Memory for Vision-Language Navigationcited by 95
  32. 2024GOAT-Bench: A Benchmark for Multi-Modal Lifelong Navigationcited by 93
  33. 2022Cross-modal Map Learning for Vision and Language Navigationcited by 91
  34. 2023PIRLNav: Pretraining with Imitation and RL Finetuning for ObjectNavcited by 91
  35. 2021LanguageRefer: Spatial-Language Model for 3D Visual Groundingcited by 88
  36. 2021Language-Aligned Waypoint (LAW) Supervision for Vision-and-Language Navigation in Continuous Environmentscited by 87
  37. 2022EnvEdit: Environment Editing for Vision-and-Language Navigationcited by 83
  38. 2023DREAMWALKER: Mental Planning for Continuous Vision-Language Navigationcited by 82

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