MOPA: Modular Object Navigation with PointGoal Agents
Reviewed by Pithpith:SIKMDX4Oopen to challenge →
read the original abstract
We propose a simple but effective modular approach MOPA (Modular ObjectNav with PointGoal agents) to systematically investigate the inherent modularity of the object navigation task in Embodied AI. MOPA consists of four modules: (a) an object detection module trained to identify objects from RGB images, (b) a map building module to build a semantic map of the observed objects, (c) an exploration module enabling the agent to explore the environment, and (d) a navigation module to move to identified target objects. We show that we can effectively reuse a pretrained PointGoal agent as the navigation model instead of learning to navigate from scratch, thus saving time and compute. We also compare various exploration strategies for MOPA and find that a simple uniform strategy significantly outperforms more advanced exploration methods.
This paper has not been read by Pith yet.
Forward citations
Cited by 3 Pith papers
-
SpaMEM: Benchmarking Dynamic Spatial Reasoning via Perception-Memory Integration in Embodied Environments
SpaMEM benchmark shows multimodal LLMs succeed at spatial tasks with text histories but sharply fail at long-horizon belief maintenance from raw visual streams alone.
-
SpaMEM: Benchmarking Dynamic Spatial Reasoning via Perception-Memory Integration in Embodied Environments
SpaMEM is a diagnostic benchmark showing that current vision-language models exhibit a sharp collapse in spatial reasoning when transitioning from text-aided state tracking to purely visual memory in dynamic environments.
-
Motion-aware Contrastive Learning for Temporal Panoptic Scene Graph Generation
Motion-aware contrastive learning on mask tubes improves temporal panoptic scene graph generation over pooling-based methods on video and 4D datasets.
discussion (0)
Sign in with ORCID, Apple, or X to comment. Anyone can read and Pith papers without signing in.