  We consider the problem of embodied visual navigation given an image-goal
(ImageNav) where an agent is initialized in an unfamiliar environment and
tasked with navigating to a location 'described' by an image. Unlike related
navigation tasks, ImageNav does not have a standardized task definition which
makes comparison across methods difficult. Further, existing formulations have
two problematic properties; (1) image-goals are sampled from random locations
which can lead to ambiguity (e.g., looking at walls), and (2) image-goals match
the camera specification and embodiment of the agent; this rigidity is limiting
when considering user-driven downstream applications. We present the
Instance-specific ImageNav task (InstanceImageNav) to address these
limitations. Specifically, the goal image is 'focused' on some particular
object instance in the scene and is taken with camera parameters independent of
the agent. We instantiate InstanceImageNav in the Habitat Simulator using
scenes from the Habitat-Matterport3D dataset (HM3D) and release a standardized
benchmark to measure community progress.
