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In reality, it is often more efficient to ask for help than to search theentire space to find an object with an unknown location. We present a learningframework that enables an agent to actively ask for help in such embodiedvisual navigation tasks, where the feedback informs the agent of where the goalis in its view. To emulate the real-world scenario that a teacher may notalways be present, we propose a training curriculum where feedback is notalways available. We formulate an uncertainty measure of where the goal is anduse empirical results to show that through this approach, the agent learns toask for help effectively while remaining robust when feedback is not available.

Good Time to Ask: A Learning Framework for Asking for Help in Embodied Visual Navigation