mlsanityData to 7 Oct 2026

Instance-Specific Image Goal Navigation: Training Embodied Agents to Find Object Instances

arXiv 2211.15876 ↗First posted 29 Nov 2022cs.CVcited by 53

Not on the map. Why?

Abstract (arXiv)

We consider the problem of embodied visual navigation given an image-goal (ImageNav) where an agent is initialized in an unfamiliar environment and tasked with navigating to a location 'described' by an image. Unlike related navigation tasks, ImageNav does not have a standardized task definition which makes comparison across methods difficult. Further, existing formulations have two problematic properties; (1) image-goals are sampled from random locations which can lead to ambiguity (e.g., looking at walls), and (2) image-goals match the camera specification and embodiment of the agent; this rigidity is limiting when considering user-driven downstream applications. We present the Instance-specific ImageNav task (InstanceImageNav) to address these limitations. Specifically, the goal image is 'focused' on some particular object instance in the scene and is taken with camera parameters independent of the agent. We instantiate InstanceImageNav in the Habitat Simulator using scenes from the Habitat-Matterport3D dataset (HM3D) and release a standardized benchmark to measure community progress.

Key facts. Cited by 53 papers in the map (data through 7 Oct 2026). Builds on 20 of its 27 references that are in the map. First posted on arXiv 29 Nov 2022.

Builds on

20 of 27 references.

References · 20

  1. 2015Deep Residual Learning for Image Recognitioncited by 51,809
  2. 2017Proximal Policy Optimization Algorithmscited by 14,441
  3. 2019Habitat: A Platform for Embodied AI Researchcited by 1,163
  4. 2017Vision-and-Language Navigation: Interpreting visually-grounded navigation instructions in real environmentscited by 1,013
  5. 2021Habitat-Matterport 3D Dataset (HM3D): 1000 Large-scale 3D Environments for Embodied AIcited by 579
  6. 2018On Evaluation of Embodied Navigation Agentscited by 526
  7. 2020Beyond the Nav-Graph: Vision-and-Language Navigation in Continuous Environmentscited by 429
  8. 2020Object Goal Navigation using Goal-Oriented Semantic Explorationcited by 421
  9. 2020Room-Across-Room: Multilingual Vision-and-Language Navigation with Dense Spatiotemporal Groundingcited by 401
  10. 2016Target-driven Visual Navigation in Indoor Scenes using Deep Reinforcement Learningcited by 351
  11. 2020ObjectNav Revisited: On Evaluation of Embodied Agents Navigating to Objectscited by 240
  12. 2020Neural Topological SLAM for Visual Navigationcited by 193
8 more
  1. 2020RoboTHOR: An Open Simulation-to-Real Embodied AI Platformcited by 190
  2. 2022ZSON: Zero-Shot Object-Goal Navigation using Multimodal Goal Embeddingscited by 177
  3. 2022Habitat-Matterport 3D Semantics Datasetcited by 109
  4. 2022Offline Visual Representation Learning for Embodied Navigationcited by 74
  5. 2022Zero Experience Required: Plug & Play Modular Transfer Learning for Semantic Visual Navigationcited by 66
  6. 2021No RL, No Simulation: Learning to Navigate without Navigatingcited by 63
  7. 2022Retrospectives on the Embodied AI Workshopcited by 46
  8. 2022VER: Scaling On-Policy RL Leads to the Emergence of Navigation in Embodied Rearrangementcited by 18

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 4; 2024: 15; 2025: 24; 2026: 10.

53 papers.

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  1. 2024GOAT-Bench: A Benchmark for Multi-Modal Lifelong Navigationcited by 93
  2. 2025UniGoal: Towards Universal Zero-shot Goal-oriented Navigationcited by 56
  3. 2023Navigating to Objects Specified by Imagescited by 50
  4. 2024GaussNav: Gaussian Splatting for Visual Navigationcited by 49
  5. 2024Embodied-RAG: General Non-parametric Embodied Memory for Retrieval and Generationcited by 44
  6. 2025OctoNav: Towards Generalist Embodied Navigationcited by 33
  7. 2024DynaMem: Online Dynamic Spatio-Semantic Memory for Open World Mobile Manipulationcited by 32
  8. 2024Prioritized Semantic Learning for Zero-shot Instance Navigationcited by 30
  9. 2024TANGO: Training-free Embodied AI Agents for Open-world Taskscited by 26
  10. 20253DLLM-Mem: Long-Term Spatial-Temporal Memory for Embodied 3D Large Language Modelcited by 25
  11. 2025NavBench: Probing Multimodal Large Language Models for Embodied Navigationcited by 24
  12. 2023FGPrompt: Fine-grained Goal Prompting for Image-goal Navigationcited by 21
38 more
  1. 2024Revisit Anything: Visual Place Recognition via Image Segment Retrievalcited by 19
  2. 2023End-to-End (Instance)-Image Goal Navigation through Correspondence as an Emergent Phenomenoncited by 16
  3. 2024Instance-aware Exploration-Verification-Exploitation for Instance ImageGoal Navigationcited by 15
  4. 2025Do Visual Imaginations Improve Vision-and-Language Navigation Agents?cited by 14
  5. 2024One Map to Find Them All: Real-time Open-Vocabulary Mapping for Zero-shot Multi-Object Navigationcited by 13
  6. 2026Explore with Long-term Memory: A Benchmark and Multimodal LLM-based Reinforcement Learning Framework for Embodied Explorationcited by 13
  7. 2024Personalized Instance-based Navigation Toward User-Specific Objects in Realistic Environmentscited by 11
  8. 2025NavigateDiff: Visual Predictors are Zero-Shot Navigation Assistantscited by 11
  9. 2025EmbodiedSplat: Personalized Real-to-Sim-to-Real Navigation with Gaussian Splats from a Mobile Devicecited by 11
  10. 2025IGL-Nav: Incremental 3D Gaussian Localization for Image-goal Navigationcited by 10
  11. 2026VLingNav: Embodied Navigation with Adaptive Reasoning and Visual-Assisted Linguistic Memorycited by 10
  12. 2024Task-oriented Sequential Grounding and Navigation in 3D Scenescited by 9
  13. 2024Collaborative Instance Object Navigation: Leveraging Uncertainty-Awareness to Minimize Human-Agent Dialoguescited by 7
  14. 2025From reactive to cognitive: brain-inspired spatial intelligence for embodied agentscited by 7
  15. 2025TANGO: Traversability-Aware Navigation with Local Metric Control for Topological Goalscited by 7
  16. 2025ROCKET-2: Steering Visuomotor Policy via Cross-View Goal Alignmentcited by 6
  17. 2023Language-enhanced RNR-Map: Querying Renderable Neural Radiance Field maps with natural languagecited by 5
  18. 2025ObjectReact: Learning Object-Relative Control for Visual Navigationcited by 5
  19. 2025Endowing Embodied Agents with Spatial Reasoning Capabilities for Vision-and-Language Navigationcited by 4
  20. 2025PersONAL: Towards a Comprehensive Benchmark for Personalized Embodied Agentscited by 4
  21. 2025SegMASt3R: Geometry Grounded Segment Matchingcited by 4
  22. 2024Situated Instruction Followingcited by 3
  23. 2024NOLO: Navigate Only Look Oncecited by 3
  24. 2025Hierarchical Scoring with 3D Gaussian Splatting for Instance Image-Goal Navigationcited by 2
  25. 2025LagMemo: Language 3D Gaussian Splatting Memory for Multi-modal Open-vocabulary Multi-goal Visual Navigationcited by 2
  26. 2025MG-Nav: Dual-Scale Visual Navigation via Sparse Spatial Memorycited by 2
  27. 2025VLD: Visual Language Goal Distance for Reinforcement Learning Navigationcited by 2
  28. 2026LangMap: A Human-Verified Benchmark for Hierarchical Open-Vocabulary Goal Navigationcited by 2
  29. 2026POINav: Benchmarking and Enhancing Final-Meters Arrival in Real-World Vision-Language Navigationcited by 2
  30. 2025RSRNav: Reasoning Spatial Relationship for Image-Goal Navigationcited by 1
  31. 2025MLFM: Multi-Layered Feature Maps for Richer Language Understanding in Zero-Shot Semantic Navigationcited by 1
  32. 2025SplatSearch: Instance Image Goal Navigation for Mobile Robots using 3D Gaussian Splatting and Diffusion Modelscited by 1
  33. 2025ImagineNav++: Prompting Vision-Language Models as Embodied Navigator through Scene Imaginationcited by 1
  34. 2026ReasonNavi: Human-Inspired Global Map Reasoning for Zero-Shot Embodied Navigationcited by 1
  35. 2026MA-CoNav: A Master-Slave Multi-Agent Framework with Hierarchical Collaboration and Dual-Level Reflection for Long-Horizon Embodied VLNcited by 1
  36. 2024Real-world Instance-specific Image Goal Navigation: Bridging Domain Gaps via Contrastive Learningcited by 0
  37. 2025YOPO-Nav: Visual Navigation using 3DGS Graphs from One-Pass Videoscited by 0
  38. 2026120 Minutes and a Laptop: Minimalist Image-goal Navigation via Unsupervised Exploration and Offline RLcited by 0

50 most cited of 53 All 53 (JSON)