具身领域的目标导航到底是什么？有哪些主流方法？

Core Viewpoint - Goal-Oriented Navigation empowers robots to autonomously complete navigation tasks based on goal descriptions, marking a significant shift from traditional visual language navigation systems [2][3]. Group 1: Technology Overview - Embodied navigation is a core area of embodied intelligence, relying on three technical pillars: language understanding, environmental perception, and path planning [2]. - Goal-Oriented Navigation requires robots to autonomously explore and plan paths in unfamiliar 3D environments using goal descriptions such as coordinates, images, or natural language [2]. - The technology has been industrialized across various verticals, including delivery, healthcare, hospitality, and industrial logistics, showcasing its adaptability and effectiveness [3]. Group 2: Technological Evolution - The evolution of Goal-Oriented Navigation can be categorized into three generations: 1. The first generation focuses on end-to-end methods using reinforcement and imitation learning, achieving breakthroughs in Point Navigation and closed-set image navigation tasks [5]. 2. The second generation employs modular methods that explicitly construct semantic maps, enhancing performance in zero-shot object navigation tasks [5]. 3. The third generation integrates large language models (LLMs) and visual language models (VLMs) to improve exploration strategies and open-vocabulary target matching accuracy [7][8]. Group 3: Challenges and Learning Path - The complexity of embodied navigation, particularly Goal-Oriented Navigation, necessitates knowledge from multiple fields, including natural language processing, computer vision, and reinforcement learning [10]. - The lack of systematic practical guidance and high-quality documentation in the Habitat ecosystem increases the difficulty for newcomers [10]. Group 4: Course Offering - A new course has been developed to address the challenges in learning Goal-Oriented Navigation, focusing on quick entry, building a research framework, and combining theory with practice [11][12][13]. - The course covers a comprehensive curriculum, including theoretical foundations, technical architectures, and practical applications in real-world scenarios [16][19][21][23].