Errata

The subgoal evaluation numbers for Goto in Table 4 of the paper used the following success criteria for navigation: (1) the agent is less than 5 A-Star steps away from the target location in the expert plan, and (2) the target object in the next subgoal is visible. But as noted in issue59, the visibility requirement cannot be satisifed for subgoals where the object is enclosed inside a receptacle, for e.g, inside a fridge.

As of 14 Dec 2020, we have updated the Goto success criteria to: (1) less than 3 A-Star steps away from the target location. The updated results for Table 4 are as follows:

Model	Goto
Seen - No Lang	45
Seen - S2S	51
Seen - S2S + PM	49
Unseen - No Lang	27
Unseen - S2S	33
Unseen - S2S + PM	32

Note: the main results and leaderboard evaluations are unaffected by this change.