Ask When It Pays: Cost-Aware Open-Ended Interaction for Instance Goal Navigation
Instance Goal Navigation (IGN) requires an embodied agent to find a specific object instance among distractors from an under-specified natural-language description. Such ambiguity often cannot be resolved from perception and language alone, making interaction with an oracle a natural mechanism for disambiguation. Prior interactive methods allow oracle queries but treat lightweight clarification and route-level guidance alike, letting agents boost success rate through repeated high-information questions rather than by resolving the underlying ambiguity efficiently. We recast interactive IGN as a cost-sensitive uncertainty-reduction problem, where the agent should ask the question whose ans...
| Authors | Xunyi Zhao, Sihao Lin, Gengze Zhou et al. |
|---|---|
| Primary category | cs.CV |
| Published | 2 June 2026 |
| Last updated at source | 3 June 2026 |
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