mlsanityData to 7 Oct 2026

Agent-Centric Relation Graph for Object Visual Navigation

arXiv 2111.14422 ↗First posted 29 Nov 2021cs.CVcited by 10

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Abstract (arXiv)

Object visual navigation aims to steer an agent toward a target object based on visual observations. It is highly desirable to reasonably perceive the environment and accurately control the agent. In the navigation task, we introduce an Agent-Centric Relation Graph (ACRG) for learning the visual representation based on the relationships in the environment. ACRG is a highly effective structure that consists of two relationships, i.e., the horizontal relationship among objects and the distance relationship between the agent and objects . On the one hand, we design the Object Horizontal Relationship Graph (OHRG) that stores the relative horizontal location among objects. On the other hand, we propose the Agent-Target Distance Relationship Graph (ATDRG) that enables the agent to perceive the distance between the target and objects. For ATDRG, we utilize image depth to obtain the target distance and imply the vertical location to capture the distance relationship among objects in the vertical direction. With the above graphs, the agent can perceive the environment and output navigation actions. Experimental results in the artificial environment AI2-THOR demonstrate that ACRG significantly outperforms other state-of-the-art methods in unseen testing environments.

Key facts. Cited by 10 papers in the map (data through 7 Oct 2026). Builds on 52 of its 82 references that are in the map. First posted on arXiv 29 Nov 2021.

Builds on

52 of 82 references.

References · 52

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  12. 2017AI2-THOR: An Interactive 3D Environment for Visual AIcited by 850
38 more
  1. 2018On Evaluation of Embodied Navigation Agentscited by 526
  2. 2020Object Goal Navigation using Goal-Oriented Semantic Explorationcited by 421
  3. 2019DD-PPO: Learning Near-Perfect PointGoal Navigators from 2.5 Billion Framescited by 352
  4. 2016Target-driven Visual Navigation in Indoor Scenes using Deep Reinforcement Learningcited by 351
  5. 2020Learning to Explore using Active Neural SLAMcited by 308
  6. 2018Reinforced Cross-Modal Matching and Self-Supervised Imitation Learning for Vision-Language Navigationcited by 304
  7. 2017Cognitive Mapping and Planning for Visual Navigationcited by 209
  8. 2018Semi-parametric Topological Memory for Navigationcited by 203
  9. 2020Neural Topological SLAM for Visual Navigationcited by 193
  10. 2016Learning to Navigate in Complex Environmentscited by 192
  11. 2020RoboTHOR: An Open Simulation-to-Real Embodied AI Platformcited by 190
  12. 2020Improving Vision-and-Language Navigation with Image-Text Pairs from the Webcited by 177
  13. 2020Watch-And-Help: A Challenge for Social Perception and Human-AI Collaborationcited by 131
  14. 2018Visual Semantic Navigation using Scene Priorscited by 127
  15. 2018Zero-Shot Visual Imitationcited by 114
  16. 2019Learning Exploration Policies for Navigationcited by 113
  17. 2019Scene Memory Transformer for Embodied Agents in Long-Horizon Taskscited by 106
  18. 2018Learning to Learn How to Learn: Self-Adaptive Visual Navigation Using Meta-Learningcited by 91
  19. 2018Visual Representations for Semantic Target Driven Navigationcited by 89
  20. 2017Neural Map: Structured Memory for Deep Reinforcement Learningcited by 88
  21. 2017Self-supervised Deep Reinforcement Learning with Generalized Computation Graphs for Robot Navigationcited by 74
  22. 2017Gated-Attention Architectures for Task-Oriented Language Groundingcited by 72
  23. 2020A Single Stream Network for Robust and Real-time RGB-D Salient Object Detectioncited by 67
  24. 2021Multi-Modal 3D Object Detection in Autonomous Driving: a Surveycited by 63
  25. 2020Learning Object Relation Graph and Tentative Policy for Visual Navigationcited by 62
  26. 2020Semantic MapNet: Building Allocentric Semantic Maps and Representations from Egocentric Viewscited by 57
  27. 2019Are You Looking? Grounding to Multiple Modalities in Vision-and-Language Navigationcited by 54
  28. 2020RGB-D Salient Object Detection with Cross-Modality Modulation and Selectioncited by 50
  29. 2021VTNet: Visual Transformer Network for Object Goal Navigationcited by 50
  30. 2019Structure-Aware Residual Pyramid Network for Monocular Depth Estimationcited by 49
  31. 2019Bayesian Relational Memory for Semantic Visual Navigationcited by 48
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  33. 2016Reinforcement Learning through Asynchronous Advantage Actor-Critic on a GPUcited by 46
  34. 2020SSCNav: Confidence-Aware Semantic Scene Completion for Visual Semantic Navigationcited by 43
  35. 2021Visual Navigation with Spatial Attentioncited by 43
  36. 2019A Behavioral Approach to Visual Navigation with Graph Localization Networkscited by 40
  37. 2019Situational Fusion of Visual Representation for Visual Navigationcited by 28
  38. 2020Language-guided Navigation via Cross-Modal Grounding and Alternate Adversarial Learningcited by 22

50 most cited of 52 All 52 (JSON)

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 2; 2023: 3; 2024: 2; 2025: 2; 2026: 1.

10 papers.

  1. 2023Graph based Environment Representation for Vision-and-Language Navigation in Continuous Environmentscited by 9
  2. 2022Spatial Relation Graph and Graph Convolutional Network for Object Goal Navigationcited by 3
  3. 2023Implicit Obstacle Map-driven Indoor Navigation Model for Robust Obstacle Avoidancecited by 3
  4. 2022Style Variable and Irrelevant Learning for Generalizable Person Re-identificationcited by 2
  5. 2023Building Category Graphs Representation with Spatial and Temporal Attention for Visual Navigationcited by 2
  6. 2024Towards Flexible Visual Relationship Segmentationcited by 2
  7. 2025Situat3DChange: Situated 3D Change Understanding Dataset for Multimodal Large Language Modelcited by 2
  8. 2024Diffusion as Reasoning: Enhancing Object Navigation via Diffusion Model Conditioned on LLM-based Object-Room Knowledgecited by 1
  9. 2025Visual Environment-Interactive Planning for Embodied Complex-Question Answeringcited by 0
  10. 2026SR-Nav: Spatial Relationships Matter for Zero-shot Object Goal Navigationcited by 0