├── LICENSE ├── README.md └── assets ├── imgs ├── apexnav_benchmark.jpg └── pipeline.jpg └── videos └── Toilet.gif /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. By contrast, 15 | the GNU General Public License is intended to guarantee your freedom to 16 | share and change all versions of a program--to make sure it remains free 17 | software for all its users. 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It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | 635 | Copyright (C) 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | Copyright (C) 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 |
2 |

3 | ApexNav 4 |

5 | 6 |

An Adaptive Exploration Strategy for Zero-Shot Object Navigation with Target-centric Semantic Fusion

7 | 8 | The paper is under review. 9 | 10 |
11 | Mingjie Zhang1, 12 | Yuheng Du1, 13 | Chengkai Wu1, 14 | Jinni Zhou1, 15 | Zhenchao Qi1, 16 | Jun Ma1, 17 | Boyu Zhou2,† 18 |

19 | 20 | 1 The Hong Kong University of Science and Technology (Guangzhou).    21 |
22 | 2 Southern University of Science and Technology.    23 |
24 | 25 | †Corresponding Authors 26 |

27 | Paper 28 | Project Page 29 | 30 |
31 | 32 |
33 | 34 | ## System Overview 35 | 36 | Code will be released upon paper acceptance. 37 |

38 | 39 |

40 | 41 | ## Real-world Deployment 42 | 43 | Please see the [project page](https://robotics-star.com/ApexNav) for more real-world experimental results. 44 | 45 |
46 | 47 |
48 | 49 | 50 | ## Benchmark Comparisons 51 | 52 |

53 | 54 |

55 | 56 | -------------------------------------------------------------------------------- /assets/imgs/apexnav_benchmark.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Robotics-STAR-Lab/ApexNav/2f327c5637f1c6656ae9ed36499172bc3e144418/assets/imgs/apexnav_benchmark.jpg -------------------------------------------------------------------------------- /assets/imgs/pipeline.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Robotics-STAR-Lab/ApexNav/2f327c5637f1c6656ae9ed36499172bc3e144418/assets/imgs/pipeline.jpg -------------------------------------------------------------------------------- /assets/videos/Toilet.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Robotics-STAR-Lab/ApexNav/2f327c5637f1c6656ae9ed36499172bc3e144418/assets/videos/Toilet.gif --------------------------------------------------------------------------------