{"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/target-driven-visual-navigation-exploiting","title":"Learning hierarchical relationships for object-goal navigation","arxiv_id":"2003.06749","date":"2020-03-15","proceeding":null,"authors":["Yiding Qiu","Anwesan Pal","Henrik I. Christensen"],"abstract":"Direct search for objects as part of navigation poses a challenge for small items. Utilizing context in the form of object-object relationships enable hierarchical search for targets efficiently. Most of the current approaches tend to directly incorporate sensory input into a reward-based learning approach, without learning about object relationships in the natural environment, and thus generalize poorly across domains. We present Memory-utilized Joint hierarchical Object Learning for Navigation in Indoor Rooms (MJOLNIR), a target-driven navigation algorithm, which considers the inherent relationship between target objects, and the more salient contextual objects occurring in its surrounding. Extensive experiments conducted across multiple environment settings show an $82.9\\%$ and $93.5\\%$ gain over existing state-of-the-art navigation methods in terms of the success rate (SR), and success weighted by path length (SPL), respectively. We also show that our model learns to converge much faster than other algorithms, without suffering from the well-known overfitting problem. Additional details regarding the supplementary material and code are available at https://sites.google.com/eng.ucsd.edu/mjolnir.","url_abs":"https://arxiv.org/abs/2003.06749v2","url_pdf":"https://arxiv.org/pdf/2003.06749v2.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":"target-driven-visual-navigation-exploiting","repo_url":"https://github.com/cassieqiuyd/MJOLNIR","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"object","task_name":"Object"},{"task_slug":"reinforcement-learning","task_name":"Reinforcement Learning"},{"task_slug":"visual-navigation","task_name":"Visual Navigation"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2003.06749","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2003.06749"}},"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/cassieqiuyd/MJOLNIR","reach":null}],"summary":{"ran_draft_wrong":1},"by_repo_kind":{"listed":{"samples":1,"ran":1,"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":1,"samples":[{"code_sha256_prefix":"f3a3398f34669aea","entry":"normalize_adj","repo":"cassieqiuyd/MJOLNIR","repo_kind":"listed","path":"models/mjolnir_o.py","file_url":"https://github.com/cassieqiuyd/MJOLNIR/blob/HEAD/models/mjolnir_o.py","link_basis":"first_harvest_node","language":"python","status":"ran_draft_wrong","verification_level":1,"contract_check":"OUTPUT_MISDECLARED","metamorphic_tier":"deterministic","behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"f3a3398f34669aea"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}