Treasure Hunting: Embodied Contrastive Learning-Enhanced Coarse-to-Fine Object Seeking With Explorer and Discriminator Cooperation

Object navigation (ObjcetNav), which enables an agent to seek any instance of an object category, has shown great advances. However, current agents are built upon occlusion-prone visual observations or compressed 2-D maps, which hinder their embodied perception of 3-D scene geometry. Furthermore, existing methods usually decouple ObjectNav into the exploration and exploitation subtasks, easily leading to ambiguous object localization and blind exploration. To address these issues, we first propose an embodied contrastive learning (ECL) method with geometric consistency (GC) and behavioral awareness (BA), which motivates agents to encode 3-D scene layouts and semantic cues actively. The BA is modeled by predicting navigational actions based on multiframe visual images, as behaviors causing differences between adjacent visual sensations are crucial for learning correlations among continuous visions. The GC is modeled by aligning the behavior-aware visual stimulus with 3-D semantic shapes through unsupervised contrastive learning. Then, based on the above ECL pretraining, a coarse-to-fine ObjectNav policy with explorer and discriminator cooperation is proposed, inspired by the treasure-hunting mindset. Concretely, the explorer is designed to adaptively switch the action spaces, thereby switching the global and local exploration thoughts according to the accumulated scene priors. The discriminator is designed to discriminate the target's authenticity using behavior-aware visual features and geometric invariance priors, which permits mimicking the human behavior of "approaching to confirm" when distinguishing objects from a distance. As expected, our ECL method performs well on object detection (ObjDet) and instance segmentation (InstSeg) tasks. Our ECL-enhanced ObjectNav strategy outperforms state-of-the-art (SOTA) methods on Matterport3D (MP3D), Gibson, and HM3D datasets.