Bridging Zero-shot Object Navigation and Foundation Models through Pixel-Guided Navigation Skill
Wenzhe Cai,Siyuan Huang,Guangran Cheng,Yuxing Long,Peng Gao,Changyin Sun,Hao Dong,Wenzhe Cai,Siyuan Huang,Guangran Cheng,Yuxing Long,Peng Gao,Changyin Sun,Hao Dong
Zero-shot object navigation is a challenging task for home-assistance robots. This task emphasizes visual grounding, commonsense inference and locomotion abilities, where the first two are inherent in foundation models. But for the locomotion part, most works still depend on map-based planning approaches. The gap between RGB space and map space makes it difficult to directly transfer the knowledge...
