Reproduce “I2O2I-Nav: A Benchmark with a Modular Agent for Long-Horizon Indoor-to-Outdoor-to-Indoor Navigation” on OpenResearch
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About this paper
Zhengjie Shu, Wanyu Li, Di Xiao, Lingxin Jiang, Lai Jiang, Kaidi Hu, Xincheng Tang, Wenkang Hu and 6 more
MODULAR-Agent coordinates existing navigation policies across a continuous indoor-to-outdoor-to-indoor journey, checking stage completion and allowing bounded recovery without replacing those policies. I2O2I-Nav evaluates four stages without resetting the agent between them. In the four-stage mission, full success rises from 1.15% to 4.02% versus a fixed chain using the same policies. Results come from simulation, not physical-robot validation.
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