  Skillful mobile operation in three-dimensional environments is a primary
topic of study in Artificial Intelligence. The past two years have seen a surge
of creative work on navigation. This creative output has produced a plethora of
sometimes incompatible task definitions and evaluation protocols. To coordinate
ongoing and future research in this area, we have convened a working group to
study empirical methodology in navigation research. The present document
summarizes the consensus recommendations of this working group. We discuss
different problem statements and the role of generalization, present evaluation
measures, and provide standard scenarios that can be used for benchmarking.
