{"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/zero-shot-object-goal-visual-navigation","title":"Zero-shot object goal visual navigation","arxiv_id":"2206.07423","date":"2022-06-15","proceeding":null,"authors":["Qianfan Zhao","Lu Zhang","Bin He","Hong Qiao","Zhiyong Liu"],"abstract":"Object goal visual navigation is a challenging task that aims to guide a robot to find the target object based on its visual observation, and the target is limited to the classes pre-defined in the training stage. However, in real households, there may exist numerous target classes that the robot needs to deal with, and it is hard for all of these classes to be contained in the training stage. To address this challenge, we study the zero-shot object goal visual navigation task, which aims at guiding robots to find targets belonging to novel classes without any training samples. To this end, we also propose a novel zero-shot object navigation framework called semantic similarity network (SSNet). Our framework use the detection results and the cosine similarity between semantic word embeddings as input. Such type of input data has a weak correlation with classes and thus our framework has the ability to generalize the policy to novel classes. Extensive experiments on the AI2-THOR platform show that our model outperforms the baseline models in the zero-shot object navigation task, which proves the generalization ability of our model. Our code is available at: https://github.com/pioneer-innovation/Zero-Shot-Object-Navigation.","url_abs":"https://arxiv.org/abs/2206.07423v3","url_pdf":"https://arxiv.org/pdf/2206.07423v3.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":"zero-shot-object-goal-visual-navigation","repo_url":"https://github.com/pioneer-innovation/zero-shot-object-navigation","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok","spdx":"MIT"}}],"tasks":[{"task_slug":"knowledge-graphs","task_name":"Knowledge Graphs"},{"task_slug":"object","task_name":"Object"},{"task_slug":"semantic-similarity","task_name":"Semantic Similarity"},{"task_slug":"semantic-textual-similarity","task_name":"Semantic Textual Similarity"},{"task_slug":"visual-navigation","task_name":"Visual Navigation"},{"task_slug":"word-embeddings","task_name":"Word Embeddings"},{"task_slug":"zero-shot-learning","task_name":"Zero-Shot Learning"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2206.07423","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2206.07423"}},"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/pioneer-innovation/zero-shot-object-navigation","reach":{"status":"ok","spdx":"MIT"}}],"summary":{"ran_draft_wrong":1},"by_repo_kind":{"official":{"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":0,"samples":[{"code_sha256_prefix":"f3a3398f34669aea","entry":"normalize_adj","repo":"pioneer-innovation/zero-shot-object-navigation","repo_kind":"official","path":"models/egnn.py","file_url":"https://github.com/pioneer-innovation/zero-shot-object-navigation/blob/HEAD/models/egnn.py","link_basis":"harvester_set","language":"python","status":"ran_draft_wrong","verification_level":1,"contract_check":"OUTPUT_MISDECLARED","metamorphic_tier":"deterministic","behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"f3a3398f34669aea"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}