{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/instance-aware-exploration-verification","title":"Instance-aware Exploration-Verification-Exploitation for Instance ImageGoal Navigation","arxiv_id":"2402.17587","date":"2024-02-25","proceeding":"CVPR 2024 1","authors":["Xiaohan Lei","Min Wang","Wengang Zhou","Li Li","Houqiang Li"],"abstract":"As a new embodied vision task, Instance ImageGoal Navigation (IIN) aims to navigate to a specified object depicted by a goal image in an unexplored environment. The main challenge of this task lies in identifying the target object from different viewpoints while rejecting similar distractors. Existing ImageGoal Navigation methods usually adopt the simple Exploration-Exploitation framework and ignore the identification of specific instance during navigation. In this work, we propose to imitate the human behaviour of ``getting closer to confirm\" when distinguishing objects from a distance. Specifically, we design a new modular navigation framework named Instance-aware Exploration-Verification-Exploitation (IEVE) for instance-level image goal navigation. Our method allows for active switching among the exploration, verification, and exploitation actions, thereby facilitating the agent in making reasonable decisions under different situations. On the challenging HabitatMatterport 3D semantic (HM3D-SEM) dataset, our method surpasses previous state-of-the-art work, with a classical segmentation model (0.684 vs. 0.561 success) or a robust model (0.702 vs. 0.561 success)","url_abs":"https://arxiv.org/abs/2402.17587v3","url_pdf":"https://arxiv.org/pdf/2402.17587v3.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"instance-aware-exploration-verification","repo_url":"https://github.com/xiaohanlei/ieve","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"pytorch","reach":{"status":"ok"}}],"tasks":[{"task_slug":"navigate","task_name":"Navigate"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2402.17587","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2402.17587"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-24T18:15:14+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. Samples come from repositories linked to the paper, official or community; repo_kind says which.","repos":[{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/xiaohanlei/ieve","reach":{"status":"ok"}},{"provenance":"deterministic:regex_extraction","url":"https://github.com/XiaohanLei/IEVE","reach":{"status":"ok"}}],"summary":{"ran":2},"by_repo_kind":{"official":{"samples":2,"ran":2,"repositories":1}},"repo_kind_vocabulary":{"official":"The archive marks this repository official for the paper","named_in_paper":"The archive records that the paper mentions this repository; it is not marked official","listed":"In the archive's code links for this paper, not marked official and not recorded as mentioned in the paper","found_in_text":"Syntology found this repository in the paper's own text; whether it is the authors' implementation is not asserted","community":"Not in the archive's code links for this paper; a community repository Syntology harvested"},"n_pointer_only_for_licence":2,"samples":[{"code_sha256_prefix":"3371127a0ac34f26","entry":"get_grid","repo":"XiaohanLei/IEVE","repo_kind":"official","path":"utils/model.py","file_url":"https://github.com/XiaohanLei/IEVE/blob/HEAD/utils/model.py","link_basis":"harvester_set","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"3371127a0ac34f26"}},{"code_sha256_prefix":"c7f1402999b584b4","entry":"get_grid_3d","repo":"XiaohanLei/IEVE","repo_kind":"official","path":"utils/model.py","file_url":"https://github.com/XiaohanLei/IEVE/blob/HEAD/utils/model.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"c7f1402999b584b4"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}