{"id":"https://openalex.org/W4392939491","doi":"https://doi.org/10.1109/tase.2024.3378010","title":"A Survey of Object Goal Navigation","display_name":"A Survey of Object Goal Navigation","publication_year":2024,"publication_date":"2024-03-19","ids":{"openalex":"https://openalex.org/W4392939491","doi":"https://doi.org/10.1109/tase.2024.3378010"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2024.3378010","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2024.3378010","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5012485866","display_name":"Jingwen Sun","orcid":"https://orcid.org/0000-0002-3644-7424"},"institutions":[{"id":"https://openalex.org/I79510175","display_name":"Cardiff University","ror":"https://ror.org/03kk7td41","country_code":"GB","type":"education","lineage":["https://openalex.org/I79510175"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Jingwen Sun","raw_affiliation_strings":["School of Computer Science and Informatics, Cardiff University, Cardiff, U.K","School of Engineering, Cardiff University, Cardiff CF24 3AA, UK","with the School of Computer Science and Informatics, Cardiff University, Cardiff CF24 4AG, UK","ORCA -Online Research"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Informatics, Cardiff University, Cardiff, U.K","institution_ids":["https://openalex.org/I79510175"]},{"raw_affiliation_string":"School of Engineering, Cardiff University, Cardiff CF24 3AA, UK","institution_ids":["https://openalex.org/I79510175"]},{"raw_affiliation_string":"with the School of Computer Science and Informatics, Cardiff University, Cardiff CF24 4AG, UK","institution_ids":["https://openalex.org/I79510175"]},{"raw_affiliation_string":"ORCA -Online Research","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013863229","display_name":"Jing Wu","orcid":"https://orcid.org/0000-0001-5123-9861"},"institutions":[{"id":"https://openalex.org/I79510175","display_name":"Cardiff University","ror":"https://ror.org/03kk7td41","country_code":"GB","type":"education","lineage":["https://openalex.org/I79510175"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jing Wu","raw_affiliation_strings":["School of Computer Science and Informatics, Cardiff University, Cardiff, U.K","with the School of Computer Science and Informatics, Cardiff University, Cardiff CF24 4AG, UK","ORCA -Online Research","School of Engineering, Cardiff University, Cardiff CF24 3AA, UK"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Informatics, Cardiff University, Cardiff, U.K","institution_ids":["https://openalex.org/I79510175"]},{"raw_affiliation_string":"with the School of Computer Science and Informatics, Cardiff University, Cardiff CF24 4AG, UK","institution_ids":["https://openalex.org/I79510175"]},{"raw_affiliation_string":"ORCA -Online Research","institution_ids":[]},{"raw_affiliation_string":"School of Engineering, Cardiff University, Cardiff CF24 3AA, UK","institution_ids":["https://openalex.org/I79510175"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068175770","display_name":"Ze Ji","orcid":"https://orcid.org/0000-0002-8968-9902"},"institutions":[{"id":"https://openalex.org/I79510175","display_name":"Cardiff University","ror":"https://ror.org/03kk7td41","country_code":"GB","type":"education","lineage":["https://openalex.org/I79510175"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ze Ji","raw_affiliation_strings":["School of Engineering, Cardiff University, Cardiff, U.K","School of Engineering, Cardiff University, Cardiff CF24 3AA, UK","ORCA -Online Research","with the School of Computer Science and Informatics, Cardiff University, Cardiff CF24 4AG, UK"],"affiliations":[{"raw_affiliation_string":"School of Engineering, Cardiff University, Cardiff, U.K","institution_ids":["https://openalex.org/I79510175"]},{"raw_affiliation_string":"School of Engineering, Cardiff University, Cardiff CF24 3AA, UK","institution_ids":["https://openalex.org/I79510175"]},{"raw_affiliation_string":"ORCA -Online Research","institution_ids":[]},{"raw_affiliation_string":"with the School of Computer Science and Informatics, Cardiff University, Cardiff CF24 4AG, UK","institution_ids":["https://openalex.org/I79510175"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067850699","display_name":"Yu\u2010Kun Lai","orcid":"https://orcid.org/0000-0002-2094-5680"},"institutions":[{"id":"https://openalex.org/I79510175","display_name":"Cardiff University","ror":"https://ror.org/03kk7td41","country_code":"GB","type":"education","lineage":["https://openalex.org/I79510175"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Yu-Kun Lai","raw_affiliation_strings":["School of Computer Science and Informatics, Cardiff University, Cardiff, U.K","ORCA -Online Research","School of Engineering, Cardiff University, Cardiff CF24 3AA, UK","with the School of Computer Science and Informatics, Cardiff University, Cardiff CF24 4AG, UK"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Informatics, Cardiff University, Cardiff, U.K","institution_ids":["https://openalex.org/I79510175"]},{"raw_affiliation_string":"ORCA -Online Research","institution_ids":[]},{"raw_affiliation_string":"School of Engineering, Cardiff University, Cardiff CF24 3AA, UK","institution_ids":["https://openalex.org/I79510175"]},{"raw_affiliation_string":"with the School of Computer Science and Informatics, Cardiff University, Cardiff CF24 4AG, UK","institution_ids":["https://openalex.org/I79510175"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5012485866"],"corresponding_institution_ids":["https://openalex.org/I79510175"],"apc_list":null,"apc_paid":null,"fwci":4.8998,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.96151921,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"22","issue":null,"first_page":"2292","last_page":"2308"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9767000079154968,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9767000079154968,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5649401545524597},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4441301226615906},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34673741459846497},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.32290932536125183},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2273106575012207}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5649401545524597},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4441301226615906},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34673741459846497},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.32290932536125183},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2273106575012207}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tase.2024.3378010","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2024.3378010","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},{"id":"pmh:oai:https://orca.cardiff.ac.uk:167432","is_oa":false,"landing_page_url":"https://orca.cardiff.ac.uk/view/cardiffauthors/A25409367.html>,","pdf_url":null,"source":{"id":"https://openalex.org/S4306401195","display_name":"ORCA Online Research @Cardiff (Cardiff University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79510175","host_organization_name":"Cardiff University","host_organization_lineage":["https://openalex.org/I79510175"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G95733430","display_name":null,"funder_award_id":"CSC202006120013","funder_id":"https://openalex.org/F4320322725","funder_display_name":"China Scholarship Council"}],"funders":[{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":169,"referenced_works":["https://openalex.org/W1999244633","https://openalex.org/W2107667896","https://openalex.org/W2145089737","https://openalex.org/W2168405694","https://openalex.org/W2277195237","https://openalex.org/W2460657278","https://openalex.org/W2557465155","https://openalex.org/W2593769898","https://openalex.org/W2593841437","https://openalex.org/W2604763608","https://openalex.org/W2783375473","https://openalex.org/W2884565639","https://openalex.org/W2953127211","https://openalex.org/W2962732398","https://openalex.org/W2962884155","https://openalex.org/W2962887844","https://openalex.org/W2963150697","https://openalex.org/W2964015378","https://openalex.org/W2964339842","https://openalex.org/W2967853831","https://openalex.org/W2986357018","https://openalex.org/W2992263225","https://openalex.org/W3001075632","https://openalex.org/W3004691725","https://openalex.org/W3007527937","https://openalex.org/W3009928773","https://openalex.org/W3011144238","https://openalex.org/W3034549794","https://openalex.org/W3036497058","https://openalex.org/W3040041096","https://openalex.org/W3091526482","https://openalex.org/W3098970982","https://openalex.org/W3101465773","https://openalex.org/W3102132064","https://openalex.org/W3109001458","https://openalex.org/W3109585842","https://openalex.org/W3110701971","https://openalex.org/W3118683362","https://openalex.org/W3119716384","https://openalex.org/W3126672009","https://openalex.org/W3126809086","https://openalex.org/W3140673083","https://openalex.org/W3146294040","https://openalex.org/W3166396011","https://openalex.org/W3172887943","https://openalex.org/W3173993018","https://openalex.org/W3182243998","https://openalex.org/W3194237121","https://openalex.org/W3195049861","https://openalex.org/W3201759799","https://openalex.org/W3206376852","https://openalex.org/W3207219602","https://openalex.org/W3207872317","https://openalex.org/W3210395242","https://openalex.org/W3210437000","https://openalex.org/W3211462570","https://openalex.org/W3211686893","https://openalex.org/W3215135886","https://openalex.org/W4200150166","https://openalex.org/W4200523064","https://openalex.org/W4206506824","https://openalex.org/W4206706211","https://openalex.org/W4207072548","https://openalex.org/W4212931196","https://openalex.org/W4214643368","https://openalex.org/W4214768561","https://openalex.org/W4221143400","https://openalex.org/W4221156528","https://openalex.org/W4221163448","https://openalex.org/W4225160169","https://openalex.org/W4249995675","https://openalex.org/W4282981845","https://openalex.org/W4283080798","https://openalex.org/W4283640928","https://openalex.org/W4285102280","https://openalex.org/W4285206113","https://openalex.org/W4286973470","https://openalex.org/W4287111299","https://openalex.org/W4287112297","https://openalex.org/W4289598401","https://openalex.org/W4292779060","https://openalex.org/W4293566037","https://openalex.org/W4304092666","https://openalex.org/W4306705192","https://openalex.org/W4306802932","https://openalex.org/W4307863552","https://openalex.org/W4308233815","https://openalex.org/W4308327415","https://openalex.org/W4309584580","https://openalex.org/W4310745808","https://openalex.org/W4311431576","https://openalex.org/W4312386498","https://openalex.org/W4312647074","https://openalex.org/W4312707839","https://openalex.org/W4312785009","https://openalex.org/W4312929500","https://openalex.org/W4312956471","https://openalex.org/W4313057103","https://openalex.org/W4313180266","https://openalex.org/W4313913679","https://openalex.org/W4318719538","https://openalex.org/W4319323416","https://openalex.org/W4319663730","https://openalex.org/W4323525773","https://openalex.org/W4324302572","https://openalex.org/W4327810158","https://openalex.org/W4360981399","https://openalex.org/W4360993006","https://openalex.org/W4362564480","https://openalex.org/W4382362889","https://openalex.org/W4383108416","https://openalex.org/W4383108519","https://openalex.org/W4384557967","https://openalex.org/W4385416186","https://openalex.org/W4385656309","https://openalex.org/W4386066968","https://openalex.org/W4386071636","https://openalex.org/W4386075729","https://openalex.org/W4386075839","https://openalex.org/W4386076477","https://openalex.org/W4386083032","https://openalex.org/W4386185486","https://openalex.org/W4386907418","https://openalex.org/W4387006103","https://openalex.org/W4387092464","https://openalex.org/W4387210650","https://openalex.org/W4387635058","https://openalex.org/W4388276042","https://openalex.org/W4389666115","https://openalex.org/W4390204337","https://openalex.org/W4390872104","https://openalex.org/W4390873494","https://openalex.org/W6681425221","https://openalex.org/W6736057607","https://openalex.org/W6747106673","https://openalex.org/W6747912417","https://openalex.org/W6753516098","https://openalex.org/W6754725917","https://openalex.org/W6773029903","https://openalex.org/W6773810110","https://openalex.org/W6774815639","https://openalex.org/W6778883912","https://openalex.org/W6779913221","https://openalex.org/W6780167394","https://openalex.org/W6780443396","https://openalex.org/W6785121346","https://openalex.org/W6790124654","https://openalex.org/W6791353385","https://openalex.org/W6797065961","https://openalex.org/W6798225807","https://openalex.org/W6800493387","https://openalex.org/W6800673378","https://openalex.org/W6802257716","https://openalex.org/W6802382269","https://openalex.org/W6803557570","https://openalex.org/W6810940169","https://openalex.org/W6839650396","https://openalex.org/W6840041517","https://openalex.org/W6845909610","https://openalex.org/W6846137956","https://openalex.org/W6846743234","https://openalex.org/W6848211866","https://openalex.org/W6849544145","https://openalex.org/W6849793301","https://openalex.org/W6850225775","https://openalex.org/W6856939727","https://openalex.org/W6857004138","https://openalex.org/W6857178701","https://openalex.org/W6857617696"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W2382290278","https://openalex.org/W2478288626","https://openalex.org/W4391913857","https://openalex.org/W2350741829","https://openalex.org/W2530322880"],"abstract_inverted_index":{"Object":[0,187],"Goal":[1,188],"Navigation":[2,189],"(ObjectNav)":[3],"refers":[4],"to":[5,9,101,128,161,171,202,216,222,229,299],"an":[6,10,13,18,57,193,200,204,207,251],"agent":[7,201,214],"navigating":[8],"object":[11,205,234],"in":[12,22,36,158,181,196,206,224,245,257,262,293,313],"unseen":[14,208],"environment,":[15,226],"which":[16,191,295],"is":[17,192],"ability":[19],"often":[20],"required":[21],"the":[23,37,72,75,77,79,82,87,99,134,140,146,178,213,220,225,233,254,268,274,290,314],"accomplishment":[24],"of":[25,50,59,74,108,136,148,166,184,253,271,289,304],"complex":[26],"tasks.":[27],"Though":[28],"it":[29],"has":[30,42],"drawn":[31],"increasing":[32],"attention":[33],"from":[34],"researchers":[35,157,282],"Embodied":[38],"AI":[39],"community,":[40],"there":[41],"not":[43],"been":[44,243],"a":[45,109,112,116,163,246,286,301],"contemporary":[46],"and":[47,81,115,120,139,144,231,259,273,283,307],"comprehensive":[48,154,287],"survey":[49,151],"ObjectNav.":[51,149,167],"In":[52],"this":[53,60,159,305],"survey,":[54],"we":[55,70,85,132,266],"give":[56,71],"overview":[58,252,288],"field":[61,160],"by":[62,177],"summarizing":[63],"more":[64],"than":[65],"70":[66],"recent":[67],"papers.":[68],"First,":[69],"preliminaries":[73],"ObjectNav:":[76],"definition,":[78],"simulator,":[80],"metrics.":[83],"Then,":[84],"group":[86],"existing":[88,137,255],"works":[89,138,239,256],"into":[90],"three":[91,263],"categories:":[92],"1)":[93],"end-to-end":[94],"methods":[95,105,123,292],"that":[96,106,124],"directly":[97],"map":[98],"observations":[100],"actions,":[102],"2)":[103],"modular":[104],"consist":[107],"mapping":[110],"module,":[111,114,119],"policy":[113],"path":[117],"planning":[118],"3)":[121],"zero-shot":[122,126],"use":[125],"learning":[127],"do":[129],"navigation.":[130],"Finally,":[131],"summarize":[133],"performance":[135,270],"main":[141],"failure":[142],"modes":[143],"discuss":[145],"challenges":[147,275],"This":[150,279],"would":[152],"provide":[153],"information":[155],"for":[156,276,311],"have":[162,242,300],"better":[164],"understanding":[165,303],"<italic":[168],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[169],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Note":[170],"Practitioners</i>":[172],"\u2014This":[173],"work":[174],"was":[175],"motivated":[176],"increased":[179],"interest":[180],"real-world":[182],"applications":[183,312],"mobile":[185],"robots.":[186],"(ObjectNav),":[190],"important":[194],"task":[195,306],"these":[197],"applications,":[198],"requires":[199],"find":[203],"environment.":[209,248],"To":[210],"accomplish":[211],"that,":[212],"needs":[215],"be":[217],"equipped":[218],"with":[219,285],"capability":[221],"move":[223],"decide":[227],"where":[228],"go,":[230],"recognize":[232],"categories.":[235,264],"So":[236],"far,":[237],"most":[238],"on":[240],"ObjectNav":[241,258,272],"done":[244],"simulation":[247],"We":[249],"present":[250],"introduce":[260],"them":[261,298],"Additionally,":[265],"analyze":[267],"current":[269],"future":[277],"research.":[278],"paper":[280],"provides":[281],"practitioners":[284],"developed":[291],"ObjectNav,":[294],"can":[296],"help":[297],"good":[302],"develop":[308],"suitable":[309],"solutions":[310],"real":[315],"world.":[316]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":18}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}