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We consider the problem of embodied visual navigation given an image-goal(ImageNav) where an agent is initialized in an unfamiliar environment andtasked with navigating to a location 'described' by an image. Unlike relatednavigation tasks, ImageNav does not have a standardized task definition whichmakes comparison across methods difficult. Further, existing formulations havetwo problematic properties; (1) image-goals are sampled from random locationswhich can lead to ambiguity (e.g., looking at walls), and (2) image-goals matchthe camera specification and embodiment of the agent; this rigidity is limitingwhen considering user-driven downstream applications. We present theInstance-specific ImageNav task (InstanceImageNav) to address theselimitations. Specifically, the goal image is 'focused' on some particularobject instance in the scene and is taken with camera parameters independent ofthe agent. We instantiate InstanceImageNav in the Habitat Simulator usingscenes from the Habitat-Matterport3D dataset (HM3D) and release a standardizedbenchmark to measure community progress.

Instance-Specific Image Goal Navigation: Training Embodied Agents to Find Object Instances