OVMAN：开放词汇运动感知导航的任务与基准
OVMAN: A Task and Benchmark for Open-Vocabulary Motion-Aware Navigation
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中文总结 AI 辅助
OVMAN提出开放词汇运动感知导航任务与219个两次访问基准片段，验证了现有系统在变化指定目标上的不足，并指出主要挑战在于开放词汇实例基础。
中文摘要 AI 辅助
机器人的两次访问之间，家庭环境会发生变化。导航基准通常在当前可见的世界中设定目标，而现有的两次访问基准则侧重于召回率或重排，而非导航本身。它们都无法表达“移动到被移动的椅子”或“去花瓶曾经所在的位置”这类目标。OVMAN是一项任务，其中智能体巡视场景，在脚本化变化后返回，并必须导航到由变化本身指定的目标。其六种变化关系中有两种需要回答物体离开后留下的位置，而那里已无可检测的物体。我们发布了219个两次访问片段，每个片段都经过验证，可由一个完成三次任务的神谕智能体解决。两个已发布的系统如预期般失败。一个零样本物体目标导航器在11.4%的片段中到达变化定义的目标，在空置位置基本失败，前位置和移除位置的得分分别为0.000和0.025。一个自维护的开放词汇地图在回答过去时查询时的成功率约为同一地图作为两次访问读取时的三分之一，即使提供了基础事实。一个简单的两次访问参考智能体在导航时达到45.2%的成功率，而具身神谕的成功率为99.5%。错误分解表明，剩余困难主要在于开放词汇实例基础，而非几何问题或已知位置后选择答案的过程。
英文摘要
Homes change between a robot's visits. Navigation benchmarks pose their goals in the world the agent currently sees, and the two-visit benchmarks that exist score recall or rearrangement rather than navigation. None of them can express go to the chair that was moved or go to where the vase used to be. OVMAN is a task in which an agent tours a scene, returns after a scripted change, and must navigate to a goal specified by the change itself. Two of its six change relations answer with a place an object has left, where nothing remains to be detected. We release 219 two-visit episodes, each certified solvable by an oracle agent that completes it three times. Two released systems fail as predicted. A zero-shot object-goal navigator reaches the change-defined target in 12.3% of episodes and almost never reaches a vacated location, 0.026 on former and 0.050 on removed. When a self-maintaining open-vocabulary map is read as two visits rather than as one maintained map, overall success rises (0.396 to 0.479 on our mapping) but the past-position relations specifically do not recover, on our maps or on a released self-maintaining one; keeping a map current is therefore not the whole obstacle. A simple two-visit reference agent reaches 45.2% when navigating, against an embodied oracle of 99.5%. An error decomposition places the remaining difficulty in carrying an instance identity across visits rather than in naming it or in selecting the answer once positions are known.
