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| Main Authors: | , , , , |
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| Format: | Preprint |
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2024
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2409.14296 |
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| _version_ | 1866910616426381312 |
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| author | Yokoyama, Naoki Ramrakhya, Ram Das, Abhishek Batra, Dhruv Ha, Sehoon |
| author_facet | Yokoyama, Naoki Ramrakhya, Ram Das, Abhishek Batra, Dhruv Ha, Sehoon |
| contents | We present the Habitat-Matterport 3D Open Vocabulary Object Goal Navigation dataset (HM3D-OVON), a large-scale benchmark that broadens the scope and semantic range of prior Object Goal Navigation (ObjectNav) benchmarks. Leveraging the HM3DSem dataset, HM3D-OVON incorporates over 15k annotated instances of household objects across 379 distinct categories, derived from photo-realistic 3D scans of real-world environments. In contrast to earlier ObjectNav datasets, which limit goal objects to a predefined set of 6-20 categories, HM3D-OVON facilitates the training and evaluation of models with an open-set of goals defined through free-form language at test-time. Through this open-vocabulary formulation, HM3D-OVON encourages progress towards learning visuo-semantic navigation behaviors that are capable of searching for any object specified by text in an open-vocabulary manner. Additionally, we systematically evaluate and compare several different types of approaches on HM3D-OVON. We find that HM3D-OVON can be used to train an open-vocabulary ObjectNav agent that achieves both higher performance and is more robust to localization and actuation noise than the state-of-the-art ObjectNav approach. We hope that our benchmark and baseline results will drive interest in developing embodied agents that can navigate real-world spaces to find household objects specified through free-form language, taking a step towards more flexible and human-like semantic visual navigation. Code and videos available at: naoki.io/ovon. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2409_14296 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | HM3D-OVON: A Dataset and Benchmark for Open-Vocabulary Object Goal Navigation Yokoyama, Naoki Ramrakhya, Ram Das, Abhishek Batra, Dhruv Ha, Sehoon Artificial Intelligence Robotics We present the Habitat-Matterport 3D Open Vocabulary Object Goal Navigation dataset (HM3D-OVON), a large-scale benchmark that broadens the scope and semantic range of prior Object Goal Navigation (ObjectNav) benchmarks. Leveraging the HM3DSem dataset, HM3D-OVON incorporates over 15k annotated instances of household objects across 379 distinct categories, derived from photo-realistic 3D scans of real-world environments. In contrast to earlier ObjectNav datasets, which limit goal objects to a predefined set of 6-20 categories, HM3D-OVON facilitates the training and evaluation of models with an open-set of goals defined through free-form language at test-time. Through this open-vocabulary formulation, HM3D-OVON encourages progress towards learning visuo-semantic navigation behaviors that are capable of searching for any object specified by text in an open-vocabulary manner. Additionally, we systematically evaluate and compare several different types of approaches on HM3D-OVON. We find that HM3D-OVON can be used to train an open-vocabulary ObjectNav agent that achieves both higher performance and is more robust to localization and actuation noise than the state-of-the-art ObjectNav approach. We hope that our benchmark and baseline results will drive interest in developing embodied agents that can navigate real-world spaces to find household objects specified through free-form language, taking a step towards more flexible and human-like semantic visual navigation. Code and videos available at: naoki.io/ovon. |
| title | HM3D-OVON: A Dataset and Benchmark for Open-Vocabulary Object Goal Navigation |
| topic | Artificial Intelligence Robotics |
| url | https://arxiv.org/abs/2409.14296 |