mlsanityData to 7 Oct 2026

Visual Navigation with Spatial Attention

arXiv 2104.09807 ↗First posted 20 Apr 2021cs.CV cs.LGcited by 43

Not on the map. Why?

Abstract (arXiv)

This work focuses on object goal visual navigation, aiming at finding the location of an object from a given class, where in each step the agent is provided with an egocentric RGB image of the scene. We propose to learn the agent's policy using a reinforcement learning algorithm. Our key contribution is a novel attention probability model for visual navigation tasks. This attention encodes semantic information about observed objects, as well as spatial information about their place. This combination of the "what" and the "where" allows the agent to navigate toward the sought-after object effectively. The attention model is shown to improve the agent's policy and to achieve state-of-the-art results on commonly-used datasets.

Key facts. Cited by 43 papers in the map (data through 7 Oct 2026). Builds on 26 of its 38 references that are in the map. First posted on arXiv 20 Apr 2021.

Builds on

26 of 38 references.

References · 26

  1. 2017Attention Is All You Needcited by 59,932
  2. 2017Model-Agnostic Meta-Learning for Fast Adaptation of Deep Networkscited by 4,861
  3. 2014Neural Machine Translation by Jointly Learning to Align and Translatecited by 4,530
  4. 2015Show, Attend and Tell: Neural Image Caption Generation with Visual Attentioncited by 1,421
  5. 2017AI2-THOR: An Interactive 3D Environment for Visual AIcited by 850
  6. 2020Object Goal Navigation using Goal-Oriented Semantic Explorationcited by 421
  7. 2016Target-driven Visual Navigation in Indoor Scenes using Deep Reinforcement Learningcited by 351
  8. 2015Stacked Attention Networks for Image Question Answeringcited by 273
  9. 2016Image Captioning with Semantic Attentioncited by 260
  10. 2017Cognitive Mapping and Planning for Visual Navigationcited by 209
  11. 2018Visual Semantic Navigation using Scene Priorscited by 127
  12. 2018Learning to Learn How to Learn: Self-Adaptive Visual Navigation Using Meta-Learningcited by 91
14 more
  1. 2018Visual Representations for Semantic Target Driven Navigationcited by 89
  2. 2018Learn To Pay Attentioncited by 83
  3. 2017Gated-Attention Architectures for Task-Oriented Language Groundingcited by 72
  4. 2015Ask, Attend and Answer: Exploring Question-Guided Spatial Attention for Visual Question Answeringcited by 66
  5. 2020Learning Object Relation Graph and Tentative Policy for Visual Navigationcited by 62
  6. 2020Semantic MapNet: Building Allocentric Semantic Maps and Representations from Egocentric Viewscited by 57
  7. 2019Bayesian Relational Memory for Semantic Visual Navigationcited by 48
  8. 2019Factor Graph Attentioncited by 41
  9. 2019Chasing Ghosts: Instruction Following as Bayesian State Trackingcited by 41
  10. 2018Mapping Navigation Instructions to Continuous Control Actions with Position-Visitation Predictioncited by 35
  11. 2019Situational Fusion of Visual Representation for Visual Navigationcited by 28
  12. 2016Text-guided Attention Model for Image Captioningcited by 13
  13. 2019Perceptual Attention-based Predictive Controlcited by 11
  14. 2019Simultaneous Mapping and Target Driven Navigationcited by 11

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 5; 2022: 10; 2023: 8; 2024: 8; 2025: 8; 2026: 4.

43 papers.

Sort:

By area:

  1. 2022PONI: Potential Functions for ObjectGoal Navigation with Interaction-free Learningcited by 149
  2. 2023How To Not Train Your Dragon: Training-free Embodied Object Goal Navigation with Semantic Frontierscited by 53
  3. 2022One Step at a Time: Long-Horizon Vision-and-Language Navigation with Milestonescited by 26
  4. 2025NaviDiffusor: Cost-Guided Diffusion Model for Visual Navigationcited by 23
  5. 2022Object Memory Transformer for Object Goal Navigationcited by 19
  6. 2022Self-supervision through Random Segments with Autoregressive Coding (RandSAC)cited by 16
  7. 2022Navigating to Objects in Unseen Environments by Distance Predictioncited by 15
  8. 2024TopV-Nav: Unlocking the Top-View Spatial Reasoning Potential of MLLM for Zero-shot Object Navigationcited by 15
  9. 2021Towards Optimal Correlational Object Searchcited by 14
  10. 2025REGNav: Room Expert Guided Image-Goal Navigationcited by 12
  11. 2024Personalized Instance-based Navigation Toward User-Specific Objects in Realistic Environmentscited by 11
  12. 2021Multi-Agent Embodied Visual Semantic Navigation with Scene Prior Knowledgecited by 10
31 more
  1. 2021Video and Text Matching with Conditioned Embeddingscited by 10
  2. 2021Agent-Centric Relation Graph for Object Visual Navigationcited by 10
  3. 2023A System for Generalized 3D Multi-Object Searchcited by 9
  4. 2022What do navigation agents learn about their environment?cited by 8
  5. 2022A Visual Active Search Framework for Geospatial Explorationcited by 8
  6. 2023A Partially Supervised Reinforcement Learning Framework for Visual Active Searchcited by 8
  7. 2024Aligning Knowledge Graph with Visual Perception for Object-goal Navigationcited by 8
  8. 2022Spot the Difference: A Novel Task for Embodied Agents in Changing Environmentscited by 5
  9. 2023Recent Advancements in Deep Learning Applications and Methods for Autonomous Navigation: A Comprehensive Reviewcited by 5
  10. 2024TDANet: Target-Directed Attention Network For Object-Goal Visual Navigation With Zero-Shot Abilitycited by 5
  11. 2023Implicit Obstacle Map-driven Indoor Navigation Model for Robust Obstacle Avoidancecited by 3
  12. 2024NOLO: Navigate Only Look Oncecited by 3
  13. 2024Flex: End-to-End Text-Instructed Visual Navigation from Foundation Model Featurescited by 3
  14. 2022Representation Learning for Continuous Action Spaces is Beneficial for Efficient Policy Learningcited by 2
  15. 2023Building Category Graphs Representation with Spatial and Temporal Attention for Visual Navigationcited by 2
  16. 2026STRNet: Visual Navigation with Spatio-Temporal Representation through Dynamic Graph Aggregationcited by 2
  17. 2022Unsupervised Visual Odometry and Action Integration for PointGoal Navigation in Indoor Environmentcited by 1
  18. 2023Task-Driven Graph Attention for Hierarchical Relational Object Navigationcited by 1
  19. 2024Diffusion as Reasoning: Enhancing Object Navigation via Diffusion Model Conditioned on LLM-based Object-Room Knowledgecited by 1
  20. 2025Schr"odinger's Navigator: Imagining an Ensemble of Futures for Zero-Shot Object Navigationcited by 1
  21. 2021Symmetry-aware Neural Architecture for Embodied Visual Navigationcited by 0
  22. 2023Zero-Shot Object Goal Visual Navigation With Class-Independent Relationship Networkcited by 0
  23. 2024Efficient Strategy Learning by Decoupling Searching and Pathfinding for Object Navigationcited by 0
  24. 2025Collision-Aware Object-Goal Visual Navigation via Two-Stage Deep Reinforcement Learningcited by 0
  25. 2025UAS Visual Navigation in Large and Unseen Environments via a Meta Agentcited by 0
  26. 2025PIG-Nav: Key Insights for Pretrained Image Goal Navigation Modelscited by 0
  27. 2025GRIP: A Unified Framework for Grid-Based Relay and Co-Occurrence-Aware Planning in Dynamic Environmentscited by 0
  28. 2025YOPO-Nav: Visual Navigation using 3DGS Graphs from One-Pass Videoscited by 0
  29. 2026Plug-and-Play Label Map Diffusion for Universal Goal-Oriented Navigationcited by 0
  30. 2026HyperDCM: Dynamic Cluster Memory Replay in Hyperbolic Space for Continual Robotic Navigation Across Scenescited by 0
  31. 2026Graph-MambaNav: Spatial-Temporal Graph Mamba Leveraging Object-Relation Knowledge for Object-Goal Navigationcited by 0