SEEK: Semantic Reasoning for Object Goal Navigation in Real World Inspection Tasks

Understand

This paper addresses the problem of object-goal navigation in autonomous inspections in real-world environments.

• Object-goal navigation is crucial to enable effective inspections in various settings, often requiring the robot to identify the target object within a large search space.
• Current object inspection methods fall short of human efficiency because they typically cannot bootstrap prior and common sense knowledge as humans do.
• In this paper, we introduce a framework that enables robots to use semantic knowledge from prior spatial configurations of the environment and semantic common sense knowledge.