IPPON: Common Sense Guided Informative Path Planning for Object Goal Navigation

Navigating efficiently to an object in an unexplored environment is a critical skill for general-purpose intelligent robots. Recent approaches to this object goal navigation problem have embraced a modular strategy, integrating classical exploration algorithms-notably frontier exploration-with a lea...

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Bibliographic Details
Published inarXiv.org
Main Authors Qu, Kaixian, Tan, Jie, Zhang, Tingnan, Xia, Fei, Cadena, Cesar, Hutter, Marco
Format Paper
LanguageEnglish
Published Ithaca Cornell University Library, arXiv.org 25.10.2024
Subjects
Algorithms
Large language models
Mapping
Modules
Navigation
Path planning
Robots
Semantic segmentation
Semantics
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Summary:Navigating efficiently to an object in an unexplored environment is a critical skill for general-purpose intelligent robots. Recent approaches to this object goal navigation problem have embraced a modular strategy, integrating classical exploration algorithms-notably frontier exploration-with a learned semantic mapping/exploration module. This paper introduces a novel informative path planning and 3D object probability mapping approach. The mapping module computes the probability of the object of interest through semantic segmentation and a Bayes filter. Additionally, it stores probabilities for common objects, which semantically guides the exploration based on common sense priors from a large language model. The planner terminates when the current viewpoint captures enough voxels identified with high confidence as the object of interest. Although our planner follows a zero-shot approach, it achieves state-of-the-art performance as measured by the Success weighted by Path Length (SPL) and Soft SPL in the Habitat ObjectNav Challenge 2023, outperforming other works by more than 20%. Furthermore, we validate its effectiveness on real robots. Project webpage: https://ippon-paper.github.io/
ISSN:2331-8422