[1] P. Anderson, A. X. Chang, D. S. Chaplot, A. Dosovitskiy, S. Gupta, V. Koltun, J. Kosecka, J. Malik, R. Mottaghi, M. Savva, and A. R. Zamir. On evaluation of embodied navigation agents. arXiv preprint arXiv:1807.06757, 2018. 6
[2] G. Avraham, Y. Zuo, T. Dharmasiri, and T. Drummond. Empnet: Neural localisation and mapping using embedded memory points. In IEEE International Conference on Computer Vision (ICCV), 2019. 2, 3
[3] E. Beeching, J. Dibangoye, O. Simonin, and C. Wolf. Learning to plan with uncertain topological maps. In The European Conference on Computer Vision (ECCV), pages 473-490, 2020. 3
[4] A. Brohan, N. Brown, J. Carbajal, Y. Chebotar, J. Dabis, C. Finn, K. Gopalakrishnan, K. Hausman, A. Herzog, J. Hsu, et al. Rt-1: Robotics transformer for real-world control at scale. arXiv preprint arXiv:2212.06817, 2022. 3
[5] A. Chang, A. Dai, T. Funkhouser, M. Halber, M. Niessner, M. Savva, S. Song, A. Zeng, and Y. Zhang. Matterport3d: Learning from rgb-d data in indoor environments. arXiv preprint arXiv:1709.06158, 2017. 7
[6] D. S. Chaplot, D. Gandhi, S. Gupta, A. Gupta, and R. Salakhutdinov. Learning to explore using active neural SLAM. In International Conference on Learning Representations (ICLR), 2020. 2, 3, 6
[7] D. S. Chaplot, E. Parisotto, and R. Salakhutdinov. Active neural localization. In International Conference on Learning Representations (ICLR), 2018. 2, 3
[8] D. S. Chaplot, R. Salakhutdinov, A. Gupta, and S. Gupta. Neural topological SLAM for visual navigation. In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2020. 2, 3, 6
[9] P. Chen, D. Huang, D. He, X. Long, R. Zeng, S. Wen, M. Tan, and C. Gan. Rspnet: Relative speed perception for unsupervised video representation learning. In Proceedings of the AAAI Conference on Artificial Intelligence, 2021. 3
[10] P. Chen, D. Ji, K. Lin, W. Hu, W. Huang, T. Li, M. Tan, and C. Gan. Learning active camera for multi-object navigation. Advances in Neural Information Processing Systems, 2022. 3
[11] P. Chen, D. Ji, K. Lin, R. Zeng, T. Li, M. Tan, and C. Gan. Weakly-supervised multi-granularity map learning for vision-and-language navigation. Advances in Neural Information Processing Systems, 2022. 3
[12] P. Chen, X. Sun, H. Zhi, R. Zeng, T. H. Li, G. Liu, M. Tan, and C. Gan.  $A^2$  Nav: Action-aware zero-shot robot navigation by exploiting vision-and-language ability of foundation models. arXiv preprint arXiv:2308.07997, 2023. 3
[13] N. Dalal and B. Triggs. Histograms of oriented gradients for human detection. In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2005. 5
[14] D. DeTone, T. Malisiewicz, and A. Rabinovich. Superpoint: Self-supervised interest point detection and description. In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2018. 5
[15] Y. Du, C. Gan, and P. Isola. Curious representation learning for embodied intelligence. In IEEE International Conference on Computer Vision (ICCV), 2021. 2, 3
[16] H. F. Durrant-Whyte and T. Bailey. Simultaneous localization and mapping: part I. IEEE Robotics and Automation Magazine (RAM), 2006. 3
[17] K. Fang, A. Toshev, L. Fei-Fei, and S. Savarese. Scene memory transformer for embodied agents in long-horizon tasks. In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), pages 538–547, 2019. 3
[18] S. Gupta, J. Davidson, S. Levine, R. Sukthankar, and J. Malik. Cognitive mapping and planning for visual navigation. In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2017. 3
[19] M. Hahn, D. S. Chaplot, S. Tulsiani, M. Mukadam, J. M. Rehg, and A. Gupta. No rl, no simulation: Learning to navigate without navigating. In Neural Information Processing Systems (NeurIPS), 2021. 2, 3, 5, 6, 7
[20] M. A. Islam, M. Kowal, P. Esser, S. Jia, B. Ommer, K. G. Derpanis, and N. Bruce. Shape or texture: Understanding discriminative features in cnns. In ICLR, 2022. 2, 3
[21] E. Jang, A. Irpan, M. Khansari, D. Kappler, F. Ebert, C. Lynch, S. Levine, and C. Finn. BC-Z: zero-shot task generalization with robotic imitation learning. In Conference on Robot Learning (CoRL), 2021. 3, 4
[22] N. Kim, O. Kwon, H. Yoo, Y. Choi, J. Park, and S. Oh. Topological semantic graph memory for image-goal navigation. In Conference on Robot Learning (CoRL), pages 393-402. PMLR, 2023. 3, 6, 7, 9
[23] J. Krantz, T. Gervet, K. Yadav, A. Wang, C. Paxton, R. Mottaghi, D. Batra, J. Malik, S. Lee, and D. S. Chaplot. Navigating to objects specified by images. arXiv preprint arXiv:2304.01192, 2023. 1, 3
[24] J. Krantz, S. Lee, J. Malik, D. Batra, and D. S. Chaplot. Instance-specific image goal navigation: Training embodied agents to find object instances. arXiv preprint arXiv:2211.15876, 2022. 5, 9