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A Behavioral Approach to Visual Navigation with Graph Localization Networks

arXiv 1903.00445 ↗First posted 1 Mar 2019cs.CV cs.AI cs.LGcited by 40

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Abstract (arXiv)

Inspired by research in psychology, we introduce a behavioral approach for visual navigation using topological maps. Our goal is to enable a robot to navigate from one location to another, relying only on its visual input and the topological map of the environment. We propose using graph neural networks for localizing the agent in the map, and decompose the action space into primitive behaviors implemented as convolutional or recurrent neural networks. Using the Gibson simulator, we verify that our approach outperforms relevant baselines and is able to navigate in both seen and unseen environments.

Key facts. Cited by 40 papers in the map (data through 7 Oct 2026). First posted on arXiv 1 Mar 2019.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 16; 2022: 13; 2023: 2; 2024: 4; 2025: 2; 2026: 3.

40 papers.

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  1. 2022Open-vocabulary Queryable Scene Representations for Real World Planningcited by 159
  2. 2022Bridging the Gap Between Learning in Discrete and Continuous Environments for Vision-and-Language Navigationcited by 127
  3. 2021Capturing, Reconstructing, and Simulating: the UrbanScene3D Datasetcited by 117
  4. 2021Structured Scene Memory for Vision-Language Navigationcited by 95
  5. 2021Memory-Augmented Reinforcement Learning for Image-Goal Navigationcited by 64
  6. 2021No RL, No Simulation: Learning to Navigate without Navigatingcited by 63
  7. 2021VTNet: Visual Transformer Network for Object Goal Navigationcited by 50
  8. 2021Hierarchical Representations and Explicit Memory: Learning Effective Navigation Policies on 3D Scene Graphs using Graph Neural Networkscited by 50
  9. 2022Sound Adversarial Audio-Visual Navigationcited by 46
  10. 2021Catch Me If You Hear Me: Audio-Visual Navigation in Complex Unmapped Environments with Moving Soundscited by 40
  11. 2022Continuous Scene Representations for Embodied AIcited by 39
  12. 2021Predicting the Future from First Person (Egocentric) Vision: A Surveycited by 36
28 more
  1. 2021Hierarchical Object-to-Zone Graph for Object Navigationcited by 34
  2. 2022One Step at a Time: Long-Horizon Vision-and-Language Navigation with Milestonescited by 26
  3. 2024RoboHop: Segment-based Topological Map Representation for Open-World Visual Navigationcited by 25
  4. 2022Learning Active Camera for Multi-Object Navigationcited by 20
  5. 2022Pay Self-Attention to Audio-Visual Navigationcited by 17
  6. 2022ExAug: Robot-Conditioned Navigation Policies via Geometric Experience Augmentationcited by 17
  7. 2021Agent-Centric Relation Graph for Object Visual Navigationcited by 10
  8. 2024SELFI: Autonomous Self-Improvement with Reinforcement Learning for Social Navigationcited by 8
  9. 2021A modular vision language navigation and manipulation framework for long horizon compositional tasks in indoor environmentcited by 6
  10. 2021Zero-Shot Reinforcement Learning on Graphs for Autonomous Exploration Under Uncertaintycited by 6
  11. 2022A Simple Approach for Visual Rearrangement: 3D Mapping and Semantic Searchcited by 6
  12. 2024Feudal Networks for Visual Navigationcited by 4
  13. 2021VGF-Net: Visual-Geometric Fusion Learning for Simultaneous Drone Navigation and Height Mappingcited by 3
  14. 2021Self-Supervised Domain Adaptation for Visual Navigation with Global Map Consistencycited by 3
  15. 2022MoDA: Map style transfer for self-supervised Domain Adaptation of embodied agentscited by 3
  16. 2022A General Purpose Supervisory Signal for Embodied Agentscited by 3
  17. 2021Deep Learning for Embodied Vision Navigation: A Surveycited by 2
  18. 2023Building Category Graphs Representation with Spatial and Temporal Attention for Visual Navigationcited by 2
  19. 2021Graph Convolutional Memory using Topological Priorscited by 1
  20. 2023Task-Driven Graph Attention for Hierarchical Relational Object Navigationcited by 1
  21. 2025Schr"odinger's Navigator: Imagining an Ensemble of Futures for Zero-Shot Object Navigationcited by 1
  22. 2026Rectified Schr"odinger Bridge Matching for Few-Step Visual Navigationcited by 1
  23. 2022Dynamical Audio-Visual Navigation: Catching Unheard Moving Sound Sources in Unmapped 3D Environmentscited by 0
  24. 2022Predicting Topological Maps for Visual Navigation in Unexplored Environmentscited by 0
  25. 2024Semantic Environment Atlas for Object-Goal Navigationcited by 0
  26. 2025DRL-TH: Jointly Utilizing Temporal Graph Attention and Hierarchical Fusion for UGV Navigation in Crowded Environmentscited by 0
  27. 2026FeudalNav: A Simple Framework for Visual Navigationcited by 0
  28. 2026Scene Representation using 360deg Saliency Graph and its Application in Vision-based Indoor Navigationcited by 0