  We revisit the problem of Object-Goal Navigation (ObjectNav). In its simplest
form, ObjectNav is defined as the task of navigating to an object, specified by
its label, in an unexplored environment. In particular, the agent is
initialized at a random location and pose in an environment and asked to find
an instance of an object category, e.g., find a chair, by navigating to it.
  As the community begins to show increased interest in semantic goal
specification for navigation tasks, a number of different often-inconsistent
interpretations of this task are emerging. This document summarizes the
consensus recommendations of this working group on ObjectNav. In particular, we
make recommendations on subtle but important details of evaluation criteria
(for measuring success when navigating towards a target object), the agent's
embodiment parameters, and the characteristics of the environments within which
the task is carried out. Finally, we provide a detailed description of the
instantiation of these recommendations in challenges organized at the Embodied
AI workshop at CVPR 2020 http://embodied-ai.org .
