mlsanityData to 7 Oct 2026

Zero-shot object goal visual navigation

arXiv 2206.07423 ↗First posted 15 Jun 2022cs.CV cs.AIcited by 29

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Abstract (arXiv)

Object goal visual navigation is a challenging task that aims to guide a robot to find the target object based on its visual observation, and the target is limited to the classes pre-defined in the training stage. However, in real households, there may exist numerous target classes that the robot needs to deal with, and it is hard for all of these classes to be contained in the training stage. To address this challenge, we study the zero-shot object goal visual navigation task, which aims at guiding robots to find targets belonging to novel classes without any training samples. To this end, we also propose a novel zero-shot object navigation framework called semantic similarity network (SSNet). Our framework use the detection results and the cosine similarity between semantic word embeddings as input. Such type of input data has a weak correlation with classes and thus our framework has the ability to generalize the policy to novel classes. Extensive experiments on the AI2-THOR platform show that our model outperforms the baseline models in the zero-shot object navigation task, which proves the generalization ability of our model. Our code is available at: https://github.com/pioneer-innovation/Zero-Shot-Object-Navigation.

Key facts. Cited by 29 papers in the map (data through 7 Oct 2026). Builds on 25 of its 38 references that are in the map. First posted on arXiv 15 Jun 2022.

Builds on

25 of 38 references.

References · 25

  1. 2021Learning Transferable Visual Models From Natural Language Supervisioncited by 33,456
  2. 2016Semi-Supervised Classification with Graph Convolutional Networkscited by 11,282
  3. 2013Distributed Representations of Words and Phrases and their Compositionalitycited by 3,462
  4. 2016Visual Genome: Connecting Language and Vision Using Crowdsourced Dense Image Annotationscited by 2,646
  5. 2016Asynchronous Methods for Deep Reinforcement Learningcited by 2,218
  6. 2015Convolutional LSTM Network: A Machine Learning Approach for Precipitation Nowcastingcited by 1,428
  7. 2021Open-vocabulary Object Detection via Vision and Language Knowledge Distillationcited by 903
  8. 2022Detecting Twenty-thousand Classes using Image-level Supervisioncited by 613
  9. 2018On Evaluation of Embodied Navigation Agentscited by 526
  10. 2020Open-Vocabulary Object Detection Using Captionscited by 427
  11. 2016Target-driven Visual Navigation in Indoor Scenes using Deep Reinforcement Learningcited by 351
  12. 2018Speaker-Follower Models for Vision-and-Language Navigationcited by 337
13 more
  1. 2019Zero-Shot Semantic Segmentationcited by 245
  2. 2021Simple but Effective: CLIP Embeddings for Embodied AIcited by 191
  3. 2018Visual Semantic Navigation using Scene Priorscited by 127
  4. 2017Generalized Zero-Shot Learning via Synthesized Examplescited by 114
  5. 2021Learning Graph Embeddings for Compositional Zero-shot Learningcited by 112
  6. 2018Learning to Learn How to Learn: Self-Adaptive Visual Navigation Using Meta-Learningcited by 91
  7. 2019Tactical Rewind: Self-Correction via Backtracking in Vision-and-Language Navigationcited by 81
  8. 2021VTNet: Visual Transformer Network for Object Goal Navigationcited by 50
  9. 2018Zero-Shot Object Detection: Learning to Simultaneously Recognize and Localize Novel Conceptscited by 48
  10. 2020Synthesizing the Unseen for Zero-shot Object Detectioncited by 32
  11. 2019Benchmarking Classic and Learned Navigation in Complex 3D Environmentscited by 24
  12. 2018Polarity Loss for Zero-shot Object Detectioncited by 14
  13. 2019To Learn or Not to Learn: Analyzing the Role of Learning for Navigation in Virtual Environmentscited by 5

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 2; 2023: 6; 2024: 10; 2025: 10; 2026: 1.

29 papers.

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  1. 2023Large Language Models for Robotics: A Surveycited by 132
  2. 2024VoroNav: Voronoi-based Zero-shot Object Navigation with Large Language Modelcited by 55
  3. 2025UAV-ON: A Benchmark for Open-World Object Goal Navigation with Aerial Agentscited by 31
  4. 2022Search for or Navigate to? Dual Adaptive Thinking for Object Navigationcited by 19
  5. 2023Find What You Want: Learning Demand-conditioned Object Attribute Space for Demand-driven Navigationcited by 18
  6. 2024Zero-shot Object Navigation with Vision-Language Models Reasoningcited by 18
  7. 2023Evidential Active Recognition: Intelligent and Prudent Open-World Embodied Perceptioncited by 15
  8. 2023Multiple Thinking Achieving Meta-Ability Decoupling for Object Navigationcited by 8
  9. 2024LOC-ZSON: Language-driven Object-Centric Zero-Shot Object Retrieval and Navigationcited by 8
  10. 2025PanoNav: Mapless Zero-Shot Object Navigation with Panoramic Scene Parsing and Dynamic Memorycited by 8
  11. 2022Zero-shot Active Visual Search (ZAVIS): Intelligent Object Search for Robotic Assistantscited by 7
  12. 2024CAMON: Cooperative Agents for Multi-Object Navigation with LLM-based Conversationscited by 7
17 more
  1. 2025CogDDN: A Cognitive Demand-Driven Navigation with Decision Optimization and Dual-Process Thinkingcited by 7
  2. 2025TANGO: Traversability-Aware Navigation with Local Metric Control for Topological Goalscited by 7
  3. 2023Active Open-Vocabulary Recognition: Let Intelligent Moving Mitigate CLIP Limitationscited by 6
  4. 2025ROCKET-2: Steering Visuomotor Policy via Cross-View Goal Alignmentcited by 6
  5. 2024TDANet: Target-Directed Attention Network For Object-Goal Visual Navigation With Zero-Shot Abilitycited by 5
  6. 2024Efficient Policy Adaptation with Contrastive Prompt Ensemble for Embodied Agentscited by 5
  7. 2025ObjectReact: Learning Object-Relative Control for Visual Navigationcited by 5
  8. 2025Space-Aware Instruction Tuning: Dataset and Benchmark for Guide Dog Robots Assisting the Visually Impairedcited by 4
  9. 2025Weakly-supervised VLM-guided Partial Contrastive Learning for Visual Language Navigationcited by 4
  10. 2024Language-Based Augmentation to Address Shortcut Learning in Object Goal Navigationcited by 3
  11. 2024Diffusion as Reasoning: Enhancing Object Navigation via Diffusion Model Conditioned on LLM-based Object-Room Knowledgecited by 1
  12. 2025Efficient and Generalizable Environmental Understanding for Visual Navigationcited by 1
  13. 2025Schr"odinger's Navigator: Imagining an Ensemble of Futures for Zero-Shot Object Navigationcited by 1
  14. 2023Zero-Shot Object Goal Visual Navigation With Class-Independent Relationship Networkcited by 0
  15. 2024Leveraging Unknown Objects to Construct Labeled-Unlabeled Meta-Relationships for Zero-Shot Object Navigationcited by 0
  16. 2024Reliable Semantic Understanding for Real World Zero-shot Object Goal Navigationcited by 0
  17. 2026SR-Nav: Spatial Relationships Matter for Zero-shot Object Goal Navigationcited by 0