mlsanityData to 7 Oct 2026

Object Goal Navigation using Goal-Oriented Semantic Exploration

arXiv 2007.00643 ↗First posted 1 Jul 2020cs.CV cs.LG cs.ROcited by 421

Not on the map. Why?

Cited by 26 in LLM agents and tool use, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

This work studies the problem of object goal navigation which involves navigating to an instance of the given object category in unseen environments. End-to-end learning-based navigation methods struggle at this task as they are ineffective at exploration and long-term planning. We propose a modular system called, `Goal-Oriented Semantic Exploration' which builds an episodic semantic map and uses it to explore the environment efficiently based on the goal object category. Empirical results in visually realistic simulation environments show that the proposed model outperforms a wide range of baselines including end-to-end learning-based methods as well as modular map-based methods and led to the winning entry of the CVPR-2020 Habitat ObjectNav Challenge. Ablation analysis indicates that the proposed model learns semantic priors of the relative arrangement of objects in a scene, and uses them to explore efficiently. Domain-agnostic module design allow us to transfer our model to a mobile robot platform and achieve similar performance for object goal navigation in the real-world.

Key facts. Cited by 421 papers in the map (data through 7 Oct 2026). First posted on arXiv 1 Jul 2020.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 47; 2022: 71; 2023: 72; 2024: 83; 2025: 70; 2026: 78.

421 papers.

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  1. 2021A Survey of Embodied AI: From Simulators to Research Taskscited by 256
  2. 2023Diffusion-based Generation, Optimization, and Planning in 3D Scenescited by 237
  3. 2023Habitat 3.0: A Co-Habitat for Humans, Avatars and Robotscited by 220
  4. 2023VLFM: Vision-Language Frontier Maps for Zero-Shot Semantic Navigationcited by 201
  5. 2024NaVILA: Legged Robot Vision-Language-Action Model for Navigationcited by 201
  6. 2022CoWs on Pasture: Baselines and Benchmarks for Language-Driven Zero-Shot Object Navigationcited by 194
  7. 2022ZSON: Zero-Shot Object-Goal Navigation using Multimodal Goal Embeddingscited by 177
  8. 2023ETPNav: Evolving Topological Planning for Vision-Language Navigation in Continuous Environmentscited by 165
  9. 2023Habitat Synthetic Scenes Dataset (HSSD-200): An Analysis of 3D Scene Scale and Realism Tradeoffs for ObjectGoal Navigationcited by 162
  10. 2022Open-vocabulary Queryable Scene Representations for Real World Planningcited by 159
  11. 2024Deep Reinforcement Learning for Robotics: A Survey of Real-World Successescited by 153
  12. 2024InstructNav: Zero-shot System for Generic Instruction Navigation in Unexplored Environmentcited by 150
38 more
  1. 2022PONI: Potential Functions for ObjectGoal Navigation with Interaction-free Learningcited by 149
  2. 2021Unconstrained Scene Generation with Locally Conditioned Radiance Fieldscited by 130
  3. 2023ESC: Exploration with Soft Commonsense Constraints for Zero-shot Object Navigationcited by 126
  4. 2021Waypoint Models for Instruction-guided Navigation in Continuous Environmentscited by 125
  5. 2021FILM: Following Instructions in Language with Modular Methodscited by 119
  6. 2021SOON: Scenario Oriented Object Navigation with Graph-based Explorationcited by 118
  7. 2022BEVBert: Multimodal Map Pre-training for Language-guided Navigationcited by 117
  8. 2023GridMM: Grid Memory Map for Vision-and-Language Navigationcited by 117
  9. 2022Habitat-Web: Learning Embodied Object-Search Strategies from Human Demonstrations at Scalecited by 116
  10. 2022Habitat-Matterport 3D Semantics Datasetcited by 109
  11. 2024SG-Nav: Online 3D Scene Graph Prompting for LLM-based Zero-shot Object Navigationcited by 106
  12. 2022Navigating to Objects in the Real Worldcited by 104
  13. 2023HomeRobot: Open-Vocabulary Mobile Manipulationcited by 104
  14. 2024SafeAgentBench: A Benchmark for Safe Task Planning of Embodied LLM Agentscited by 102
  15. 2021Visual Room Rearrangementcited by 101
  16. 2024GOAT-Bench: A Benchmark for Multi-Modal Lifelong Navigationcited by 93
  17. 2022Cross-modal Map Learning for Vision and Language Navigationcited by 91
  18. 2023PIRLNav: Pretraining with Imitation and RL Finetuning for ObjectNavcited by 91
  19. 2022Weakly-Supervised Multi-Granularity Map Learning for Vision-and-Language Navigationcited by 86
  20. 2024MapGPT: Map-Guided Prompting with Adaptive Path Planning for Vision-and-Language Navigationcited by 85
  21. 2024Vision-and-Language Navigation Today and Tomorrow: A Survey in the Era of Foundation Modelscited by 79
  22. 2022Offline Visual Representation Learning for Embodied Navigationcited by 74
  23. 2023Can an Embodied Agent Find Your "Cat-shaped Mug"? LLM-Guided Exploration for Zero-Shot Object Navigationcited by 74
  24. 2021Auxiliary Tasks and Exploration Enable ObjectNavcited by 73
  25. 2024Mobility VLA: Multimodal Instruction Navigation with Long-Context VLMs and Topological Graphscited by 72
  26. 2024HM3D-OVON: A Dataset and Benchmark for Open-Vocabulary Object Goal Navigationcited by 71
  27. 2023OVRL-V2: A simple state-of-art baseline for ImageNav and ObjectNavcited by 68
  28. 2024ReMEmbR: Building and Reasoning Over Long-Horizon Spatio-Temporal Memory for Robot Navigationcited by 67
  29. 2021Memory-Augmented Reinforcement Learning for Image-Goal Navigationcited by 64
  30. 2021The ThreeDWorld Transport Challenge: A Visually Guided Task-and-Motion Planning Benchmark for Physically Realistic Embodied AIcited by 64
  31. 2021No RL, No Simulation: Learning to Navigate without Navigatingcited by 63
  32. 2023A2Nav: Action-Aware Zero-Shot Robot Navigation by Exploiting Vision-and-Language Ability of Foundation Modelscited by 61
  33. 2025UniGoal: Towards Universal Zero-shot Goal-oriented Navigationcited by 56
  34. 2024VoroNav: Voronoi-based Zero-shot Object Navigation with Large Language Modelcited by 55
  35. 2022Instance-Specific Image Goal Navigation: Training Embodied Agents to Find Object Instancescited by 53
  36. 2023How To Not Train Your Dragon: Training-free Embodied Object Goal Navigation with Semantic Frontierscited by 53
  37. 2023SayNav: Grounding Large Language Models for Dynamic Planning to Navigation in New Environmentscited by 53
  38. 2024SemCity: Semantic Scene Generation with Triplane Diffusioncited by 53

50 most cited of 421 All 421 (JSON)