We revisit the problem of Object-Goal Navigation (ObjectNav). In its simplest form, ObjectNav is defined as the task of navigating to an object, specified by its label, in an unexplored environment. In particular, the agent is initialized at a random location and pose in an environment and asked to find an instance of an object category, e.g., find a chair, by navigating to it. As the community begins to show increased interest in semantic goal specification for navigation tasks, a number of different often-inconsistent interpretations of this task are emerging. This document summarizes the consensus recommendations of this working group on ObjectNav. In particular, we make recommendations on subtle but important details of evaluation criteria (for measuring success when navigating towards a target object), the agent's embodiment parameters, and the characteristics of the environments within which the task is carried out. Finally, we provide a detailed description of the instantiation of these recommendations in challenges organized at the Embodied AI workshop at CVPR 2020 http://embodied-ai.org .
翻译：我们重新审视了目标-目标导航问题(ObjectNav),以最简单的形式,将“ObjectNav”定义为在未探索的环境中导航其标签指定的物体的任务,特别是该物剂在随机地点初始化,在环境中出现,并要求寻找一个物体类别的例子,例如,通过导航找到一个椅子。随着社区开始对导航任务的语义目标规格表现出更大兴趣,正在出现一些对这一任务的往往不一致的解释。本文件总结了“ObjectNav”工作组的协商一致建议。特别是,我们就评估标准的微妙但重要的细节提出了建议(用于测量向目标物体航行的成功程度)、该物剂的化形体参数以及执行任务所处环境的特点。最后,我们详细说明了在2020年CVPR http://embedied-ai.org 的Embodied AI 研讨会上组织的挑战中对这些建议的回馈情况。
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