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Neural Topological SLAM for Visual Navigation

arXiv 2005.12256 ↗First posted 25 May 2020cs.CV cs.AI cs.LGcited by 193

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Abstract (arXiv)

This paper studies the problem of image-goal navigation which involves navigating to the location indicated by a goal image in a novel previously unseen environment. To tackle this problem, we design topological representations for space that effectively leverage semantics and afford approximate geometric reasoning. At the heart of our representations are nodes with associated semantic features, that are interconnected using coarse geometric information. We describe supervised learning-based algorithms that can build, maintain and use such representations under noisy actuation. Experimental study in visually and physically realistic simulation suggests that our method builds effective representations that capture structural regularities and efficiently solve long-horizon navigation problems. We observe a relative improvement of more than 50% over existing methods that study this task.

Key facts. Cited by 193 papers in the map (data through 7 Oct 2026). First posted on arXiv 25 May 2020.

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Citing papers per year: 2021: 34; 2022: 48; 2023: 29; 2024: 36; 2025: 26; 2026: 20.

193 papers.

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  1. 2021Habitat-Matterport 3D Dataset (HM3D): 1000 Large-scale 3D Environments for Embodied AIcited by 579
  2. 2021A Survey of Embodied AI: From Simulators to Research Taskscited by 256
  3. 2023NoMaD: Goal Masked Diffusion Policies for Navigation and Explorationcited by 234
  4. 2024NaVILA: Legged Robot Vision-Language-Action Model for Navigationcited by 201
  5. 2022Think Global, Act Local: Dual-scale Graph Transformer for Vision-and-Language Navigationcited by 187
  6. 2023ETPNav: Evolving Topological Planning for Vision-Language Navigation in Continuous Environmentscited by 165
  7. 2023Habitat Synthetic Scenes Dataset (HSSD-200): An Analysis of 3D Scene Scale and Realism Tradeoffs for ObjectGoal Navigationcited by 162
  8. 2022GNM: A General Navigation Model to Drive Any Robotcited by 161
  9. 2022Open-vocabulary Queryable Scene Representations for Real World Planningcited by 159
  10. 2022PONI: Potential Functions for ObjectGoal Navigation with Interaction-free Learningcited by 149
  11. 2021Unconstrained Scene Generation with Locally Conditioned Radiance Fieldscited by 130
  12. 2022Bridging the Gap Between Learning in Discrete and Continuous Environments for Vision-and-Language Navigationcited by 127
38 more
  1. 2021Waypoint Models for Instruction-guided Navigation in Continuous Environmentscited by 125
  2. 2021Rapid Exploration for Open-World Navigation with Latent Goal Modelscited by 118
  3. 2022BEVBert: Multimodal Map Pre-training for Language-guided Navigationcited by 117
  4. 2022Habitat-Matterport 3D Semantics Datasetcited by 109
  5. 2022Navigating to Objects in the Real Worldcited by 104
  6. 2021Structured Scene Memory for Vision-Language Navigationcited by 95
  7. 2024GOAT-Bench: A Benchmark for Multi-Modal Lifelong Navigationcited by 93
  8. 2022Weakly-Supervised Multi-Granularity Map Learning for Vision-and-Language Navigationcited by 86
  9. 2022Offline Visual Representation Learning for Embodied Navigationcited by 74
  10. 2024HM3D-OVON: A Dataset and Benchmark for Open-Vocabulary Object Goal Navigationcited by 71
  11. 2023OVRL-V2: A simple state-of-art baseline for ImageNav and ObjectNavcited by 68
  12. 2022Zero Experience Required: Plug & Play Modular Transfer Learning for Semantic Visual Navigationcited by 66
  13. 2024OpenFMNav: Towards Open-Set Zero-Shot Object Navigation via Vision-Language Foundation Modelscited by 66
  14. 2021Memory-Augmented Reinforcement Learning for Image-Goal Navigationcited by 64
  15. 2021No RL, No Simulation: Learning to Navigate without Navigatingcited by 63
  16. 2024Volumetric Environment Representation for Vision-Language Navigationcited by 63
  17. 2022ViKiNG: Vision-Based Kilometer-Scale Navigation with Geographic Hintscited by 55
  18. 2024PoliFormer: Scaling On-Policy RL with Transformers Results in Masterful Navigatorscited by 55
  19. 2022Instance-Specific Image Goal Navigation: Training Embodied Agents to Find Object Instancescited by 53
  20. 2021Hierarchical Representations and Explicit Memory: Learning Effective Navigation Policies on 3D Scene Graphs using Graph Neural Networkscited by 50
  21. 2023Navigating to Objects Specified by Imagescited by 50
  22. 2024GaussNav: Gaussian Splatting for Visual Navigationcited by 49
  23. 2021SASRA: Semantically-aware Spatio-temporal Reasoning Agent for Vision-and-Language Navigation in Continuous Environmentscited by 48
  24. 2021Learning to Map for Active Semantic Goal Navigationcited by 47
  25. 2023SPOC: Imitating Shortest Paths in Simulation Enables Effective Navigation and Manipulation in the Real Worldcited by 47
  26. 2022Retrospectives on the Embodied AI Workshopcited by 46
  27. 2023Learning Navigational Visual Representations with Semantic Map Supervisioncited by 40
  28. 2024Towards Generalist Robot Learning from Internet Video: A Surveycited by 40
  29. 2022Continuous Scene Representations for Embodied AIcited by 39
  30. 2021Interesting Object, Curious Agent: Learning Task-Agnostic Explorationcited by 38
  31. 2021Move2Hear: Active Audio-Visual Source Separationcited by 35
  32. 2021Differentiable SLAM-net: Learning Particle SLAM for Visual Navigationcited by 34
  33. 2021Hierarchical Object-to-Zone Graph for Object Navigationcited by 34
  34. 2022Uncertainty-driven Planner for Exploration and Navigationcited by 31
  35. 2022Towards Versatile Embodied Navigationcited by 26
  36. 2024TANGO: Training-free Embodied AI Agents for Open-world Taskscited by 26
  37. 2021Differentiable Spatial Planning using Transformerscited by 25
  38. 2022Last-Mile Embodied Visual Navigationcited by 25

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