Zero-shot object goal visual navigation

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 specified in the training stage. However, in real households, there may exist numerous object 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 propose a task named zero-shot object navigation, which aims at guiding robots to find objects belonging to novel classes without any training samples. To this end, we also propose a novel zero-shot object navigation framework. 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 framework show that our model outperforms the baseline models in the zero-shot object navigation task, which proves the the generalization ability of our model. Our code is available at: https://github.com/pioneer-innovation/Zero-Shot-Object-Navigation.