# CON: Continual Object Navigation via Data-Free Inter-Agent Knowledge Transfer in Unseen and Unfamiliar Places

arXiv: https://arxiv.org/abs/2409.14899 · HTML: https://mlsanity.com/paper/2409.14899/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Placed in Multimodal and embodied agents, one of 16 directions in LLM agents and tool use.
- Builds on 6 of its 9 references that are in the map.
- First posted on arXiv 23 Sep 2024.

## Placed in

- LLM agents and tool use / [Multimodal and embodied agents](https://mlsanity.com/agents/multimodal-and-embodied-agents/)

## Builds on (most cited first, 6 of 6)

- [Object Goal Navigation using Goal-Oriented Semantic Exploration](https://mlsanity.com/paper/2007.00643/) (2020)
- [Can an Embodied Agent Find Your "Cat-shaped Mug"? LLM-Guided Exploration for Zero-Shot Object Navigation](https://mlsanity.com/paper/2303.03480/) (2023)
- [CPlaNet: Enhancing Image Geolocalization by Combinatorial Partitioning of Maps](https://mlsanity.com/paper/1808.02130/) (2018)
- [How To Not Train Your Dragon: Training-free Embodied Object Goal Navigation with Semantic Frontiers](https://mlsanity.com/paper/2305.16925/) (2023)
- [Active Robot Vision for Distant Object Change Detection: A Lightweight Training Simulator Inspired by Multi-Armed Bandits](https://mlsanity.com/paper/2307.14105/) (2023)
- [Training Self-localization Models for Unseen Unfamiliar Places via Teacher-to-Student Data-Free Knowledge Transfer](https://mlsanity.com/paper/2403.10552/) (2024)

## Abstract (arXiv)

This work explores the potential of brief inter-agent knowledge transfer (KT) to enhance the robotic object goal navigation (ON) in unseen and unfamiliar environments. Drawing on the analogy of human travelers acquiring local knowledge, we propose a framework in which a traveler robot (student) communicates with local robots (teachers) to obtain ON knowledge through minimal interactions. We frame this process as a data-free continual learning (CL) challenge, aiming to transfer knowledge from a black-box model (teacher) to a new model (student). In contrast to approaches like zero-shot ON using large language models (LLMs), which utilize inherently communication-friendly natural language for knowledge representation, the other two major ON approaches -- frontier-driven methods using object feature maps and learning-based ON using neural state-action maps -- present complex challenges where data-free KT remains largely uncharted. To address this gap, we propose a lightweight, plug-and-play KT module targeting non-cooperative black-box teachers in open-world settings. Using the universal assumption that every teacher robot has vision and mobility capabilities, we define state-action history as the primary knowledge base. Our formulation leads to the development of a query-based occupancy map that dynamically represents target object locations, serving as an effective and communication-friendly knowledge representation. We validate the effectiveness of our method through experiments conducted in the Habitat environment.