Collaborative Instance Object Navigation: Leveraging Uncertainty-Awareness to Minimize Human-Agent Dialogues

• URL: http://arxiv.org/abs/2412.01250v3
• Date: Tue, 18 Mar 2025 16:09:20 GMT
• Title: Collaborative Instance Object Navigation: Leveraging Uncertainty-Awareness to Minimize Human-Agent Dialogues
• Authors: Francesco Taioli, Edoardo Zorzi, Gianni Franchi, Alberto Castellini, Alessandro Farinelli, Marco Cristani, Yiming Wang,
• Abstract summary: Collaborative Instance object Navigation (CoIN) is a new task setting where the agent actively resolve uncertainties about the target instance.<n>We propose a novel training-free method, Agent-user Interaction with UncerTainty Awareness (AIUTA)<n>First, upon object detection, a Self-Questioner model initiates a self-dialogue within the agent to obtain a complete and accurate observation description.<n>An Interaction Trigger module determines whether to ask a question to the human, continue or halt navigation.
• Score: 54.81155589931697
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Language-driven instance object navigation assumes that human users initiate the task by providing a detailed description of the target instance to the embodied agent. While this description is crucial for distinguishing the target from visually similar instances in a scene, providing it prior to navigation can be demanding for human. To bridge this gap, we introduce Collaborative Instance object Navigation (CoIN), a new task setting where the agent actively resolve uncertainties about the target instance during navigation in natural, template-free, open-ended dialogues with human. We propose a novel training-free method, Agent-user Interaction with UncerTainty Awareness (AIUTA), which operates independently from the navigation policy, and focuses on the human-agent interaction reasoning with Vision-Language Models (VLMs) and Large Language Models (LLMs). First, upon object detection, a Self-Questioner model initiates a self-dialogue within the agent to obtain a complete and accurate observation description with a novel uncertainty estimation technique. Then, an Interaction Trigger module determines whether to ask a question to the human, continue or halt navigation, minimizing user input. For evaluation, we introduce CoIN-Bench, with a curated dataset designed for challenging multi-instance scenarios. CoIN-Bench supports both online evaluation with humans and reproducible experiments with simulated user-agent interactions. On CoIN-Bench, we show that AIUTA serves as a competitive baseline, while existing language-driven instance navigation methods struggle in complex multi-instance scenes. Code and benchmark will be available upon acceptance at https://intelligolabs.github.io/CoIN/

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