Towards Learning a Generalist Model for Embodied Navigation

Duo Zheng, Shijia Huang, Lin Zhao, Yiwu Zhong, Liwei Wang

Abstract: Building a generalist agent that can interact with the world is the intriguing target of AI systems, thus spurring the research for embodied navigation, where an agent is required to navigate according to instructions or respond to queries. Despite the major progress attained, previous works primarily focus on task-specific agents and lack gen-eralizability to unseen scenarios. Recently, LLMs have pre-sented remarkable capabilities across various fields, and provided a promising opportunity for embodied navigation. Drawing on this, we propose the first generalist model for embodied navigation, NaviLLM. It adapts LLMs to em-bodied navigation by introducing schema-based instruction. The schema-based instruction flexibly casts various tasks into generation problems, thereby unifying a wide range of tasks. This approach allows us to integrate di-verse data sources from various datasets into the training, equipping NaviLLM with a wide range of capabilities required by embodied navigation. We conduct extensive ex-periments to evaluate the performance and generalizability of our model. The experimental results demonstrate that our unified model achieves state-of-the-art performance on CVDN, SOON, and ScanQA. Specifically, it surpasses the previous stats-of-the-art method by a significant margin of 29% in goal progress on CVDN. Moreover, our model also demonstrates strong generalizability and presents im-pressive results on unseen tasks, e.g. embodied question answering and 3D captioning. Our code is available at https://github.com/LaVi-Lab/NaviLLM.