OVG-Nav

This is an official GitHub Repository for paper "Commonsense-Aware Object Value Graph for Object Goal Navigation".

Requirement

Generate an Anaconda environment with conda_env.yaml.

conda env create -f conda_env.yaml

Organization

OVG-Nav/
    └── goal_dist_pred/
    └── modules/
    │     └── comet_relation/
    │     └── detector/
    │     └── free_space_model/
    │     └── visual_odometry/
    └── run_commands/
    └── utils/
        └── graph_utils/
        └── visualizations/

• goal_dist_pred/:
• modules/:
• run_commands/:
• utils/: contains the utility functions

Training and Evaluation

Training

Download checkpoints from:

Run:

Evaluation

Citation

If you find this work useful in your research, please cite:

@article{yoo2024commonsense,
  title={Commonsense-Aware Object Value Graph for Object Goal Navigation},
  author={Yoo, Hwiyeon and Choi, Yunho and Park, Jeongho and Oh, Songhwai},
  journal={IEEE Robotics and Automation Letters},
  year={2024},
  publisher={IEEE}
}