mlsanityData to 14 Oct 2026

GOAT: GO to Any Thing

arXiv 2311.06430 ↗First posted 10 Nov 2023cs.ROcited by 89

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Abstract (arXiv)

In deployment scenarios such as homes and warehouses, mobile robots are expected to autonomously navigate for extended periods, seamlessly executing tasks articulated in terms that are intuitively understandable by human operators. We present GO To Any Thing (GOAT), a universal navigation system capable of tackling these requirements with three key features: a) Multimodal: it can tackle goals specified via category labels, target images, and language descriptions, b) Lifelong: it benefits from its past experience in the same environment, and c) Platform Agnostic: it can be quickly deployed on robots with different embodiments. GOAT is made possible through a modular system design and a continually augmented instance-aware semantic memory that keeps track of the appearance of objects from different viewpoints in addition to category-level semantics. This enables GOAT to distinguish between different instances of the same category to enable navigation to targets specified by images and language descriptions. In experimental comparisons spanning over 90 hours in 9 different homes consisting of 675 goals selected across 200+ different object instances, we find GOAT achieves an overall success rate of 83%, surpassing previous methods and ablations by 32% (absolute improvement). GOAT improves with experience in the environment, from a 60% success rate at the first goal to a 90% success after exploration. In addition, we demonstrate that GOAT can readily be applied to downstream tasks such as pick and place and social navigation.

Key facts. Cited by 89 papers in the map (data through 14 Oct 2026). First posted on arXiv 10 Nov 2023.

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Citing papers per year: 2023: 2; 2024: 42; 2025: 28; 2026: 17.

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  1. 2024TinyVLA: Towards Fast, Data-Efficient Vision-Language-Action Models for Robotic Manipulationcited by 339
  2. 2024Hierarchical Open-Vocabulary 3D Scene Graphs for Language-Grounded Robot Navigationcited by 196
  3. 2024Reconciling Reality through Simulation: A Real-to-Sim-to-Real Approach for Robust Manipulationcited by 144
  4. 2024ShapeLLM: Universal 3D Object Understanding for Embodied Interactioncited by 137
  5. 2024GOAT-Bench: A Benchmark for Multi-Modal Lifelong Navigationcited by 94
  6. 2024Real-World Robot Applications of Foundation Models: A Reviewcited by 61
  7. 2024PoliFormer: Scaling On-Policy RL with Transformers Results in Masterful Navigatorscited by 58
  8. 2025UniGoal: Towards Universal Zero-shot Goal-oriented Navigationcited by 57
  9. 2023SPOC: Imitating Shortest Paths in Simulation Enables Effective Navigation and Manipulation in the Real Worldcited by 48
  10. 2025SoFar: Language-Grounded Orientation Bridges Spatial Reasoning and Object Manipulationcited by 46
  11. 2024Embodied-RAG: General Non-parametric Embodied Memory for Retrieval and Generationcited by 44
  12. 2024Closed-Loop Open-Vocabulary Mobile Manipulation with GPT-4Vcited by 40
38 more
  1. 2025Robotic Manipulation by Imitating Generated Videos Without Physical Demonstrationscited by 38
  2. 2024End-to-End Navigation with Vision Language Models: Transforming Spatial Reasoning into Question-Answeringcited by 37
  3. 2024GraphEQA: Using 3D Semantic Scene Graphs for Real-time Embodied Question Answeringcited by 37
  4. 2024OK-Robot: What Really Matters in Integrating Open-Knowledge Models for Roboticscited by 34
  5. 2024DynaMem: Online Dynamic Spatio-Semantic Memory for Open World Mobile Manipulationcited by 32
  6. 2024Adaptive Mobile Manipulation for Articulated Objects In the Open Worldcited by 31
  7. 2024SPIN: Simultaneous Perception, Interaction and Navigationcited by 29
  8. 2024TANGO: Training-free Embodied AI Agents for Open-world Taskscited by 27
  9. 2025GaussGym: An open-source real-to-sim framework for learning locomotion from pixelscited by 22
  10. 2024Revisit Anything: Visual Place Recognition via Image Segment Retrievalcited by 19
  11. 2024Spot-Compose: A Framework for Open-Vocabulary Object Retrieval and Drawer Manipulation in Point Cloudscited by 15
  12. 2025RoboMemory: A Brain-inspired Multi-memory Agentic Framework for Interactive Environmental Learning in Physical Embodied Systemscited by 15
  13. 2025Thinking in 360deg: Humanoid Visual Search in the Wildcited by 15
  14. 2026Explore with Long-term Memory: A Benchmark and Multimodal LLM-based Reinforcement Learning Framework for Embodied Explorationcited by 13
  15. 2024Tag Map: A Text-Based Map for Spatial Reasoning and Navigation with Large Language Modelscited by 12
  16. 2025FindingDory: A Benchmark to Evaluate Memory in Embodied Agentscited by 12
  17. 2024Personalized Instance-based Navigation Toward User-Specific Objects in Realistic Environmentscited by 11
  18. 2025RAVEN: Resilient Aerial Navigation via Open-Set Semantic Memory and Behavior Adaptationcited by 10
  19. 2026VLingNav: Embodied Navigation with Adaptive Reasoning and Visual-Assisted Linguistic Memorycited by 10
  20. 2023BrainWash: A Poisoning Attack to Forget in Continual Learningcited by 9
  21. 2024Vision-Language Navigation with Embodied Intelligence: A Surveycited by 9
  22. 2024Map-based Modular Approach for Zero-shot Embodied Question Answeringcited by 9
  23. 2024Towards Open-World Mobile Manipulation in Homes: Lessons from the Neurips 2023 HomeRobot Open Vocabulary Mobile Manipulation Challengecited by 9
  24. 2024MrSteve: Instruction-Following Agents in Minecraft with What-Where-When Memorycited by 9
  25. 2025WoMAP: World Models For Embodied Open-Vocabulary Object Localizationcited by 9
  26. 2025Improving Generalized Visual Grounding with Instance-aware Joint Learningcited by 8
  27. 2024TDANet: Target-Directed Attention Network For Object-Goal Visual Navigation With Zero-Shot Abilitycited by 7
  28. 2024ReLIC: A Recipe for 64k Steps of In-Context Reinforcement Learning for Embodied AIcited by 7
  29. 2024Generative AI Agents in Autonomous Machines: A Safety Perspectivecited by 7
  30. 2025From reactive to cognitive: brain-inspired spatial intelligence for embodied agentscited by 7
  31. 2025TANGO: Traversability-Aware Navigation with Local Metric Control for Topological Goalscited by 7
  32. 2024Perception Matters: Enhancing Embodied AI with Uncertainty-Aware Semantic Segmentationcited by 6
  33. 2024IPPON: Common Sense Guided Informative Path Planning for Object Goal Navigationcited by 6
  34. 2024WildLMa: Long Horizon Loco-Manipulation in the Wildcited by 6
  35. 2025VISTAv2: World Imagination for Indoor Vision-and-Language Navigationcited by 6
  36. 2025Vision to Geometry: 3D Spatial Memory for Sequential Embodied MLLM Reasoning and Explorationcited by 5
  37. 2026GSMem: 3D Gaussian Splatting as Persistent Spatial Memory for Zero-Shot Embodied Exploration and Reasoningcited by 5
  38. 2024QuadrupedGPT: Towards a Versatile Quadruped Agent in Open-ended Worldscited by 4

50 most cited of 89 All 89 (JSON)