"Point to Point" represents the shortest path navigation.
Results
1. Query Experiments
1.1 Object Query on the Outdated Offline Map (instance, demand, and carried-by relationship)
Scene 1
Other 8 instructions
towel
I want to sit
green box
a black book on bed
I want to sleep
I need to use the toilet
black mug
a blue box on bed
Scene 2
Other 13 instructions
I'm hungry
plant
I need to sleep
white fan
white clock on the cabinet
I need to use the toilet
plant on the table
I want to play games
I need fruit
white clock
I need a drink
red clock on table
apple
Scene 3
Other 11 instuctions
vase
black mug on chair
I'd like to see some green
blue tub on a toilet
toycar on chair
I need to drink water
toybear
black bottle
I'd like to go to toilet
I'd like to eat something
I'd like to play with a toy
Scene 4
Other 11 instructions
White remote control on sofa
towel on toilet
Yellow gift box
Book on chair
white umbrella on table
TV（television）
I'd like to go to toilet
I want to sleep
I want to wash my hands
bed
mirror
Scene 5
Other 12 instructions
coat hanger
gun on cabinet
blue box on table
blue box
plant
socket on bed
power strip
white mug on cabinet
gray mug
I feel sleepy
I am thirsty
I want to brush my tooth
1.2 Other Relationship queries of the initial CRSG
1.3 Other Relationship queries of the updated CRSG
2. Long-sequence Navigation Task for Frequently Used Everyday Items
Simulation 1
Simulation 2
3. Real-World Navigation Experiments
3.1 Scene 1: Single object navigation
Task caption: plant
Task caption: red book
3.2 Scene 2: Single object navigation
Task caption: red cup
3.3 Some successful examples in scene 2
Sequentially navigating to two instances, where the brown box and the white plate are new objects absent from the initial CRSG. In the initial CRSG, the highlighted bounding boxes mark the targets' initial positions. The red box in "Updated CRSG" marks the updated carrier positions.
