1 INTRODUCTION

2 EMBODIED NAVIGATION ENVIRONMENTS
2.1 Embodied Datasets
2.2 Embodied Simulators

3 EMBODIED NAVIGATION BENCHMARKS
3.1 Target-driven Navigation Tasks
3.2 Cross-modal Navigation Tasks
3.3 Interactive Navigation Tasks
3.4 Evaluation Metrics
3.5 Summary

4 METHODS IN SIMULATED ENVIRONMENTS
4.1 Target-driven Navigation
4.2 Cross-modal Navigation

5 METHODS IN REAL-WORLD ENVIRONMENTS
5.1 Real-world Navigation Methods

6 NAVIGATION FROM SIMULATOR TO REAL-WORLD
6.1 Comparison of Simulated and Real Navigation
6.2 Navigation Transferring
6.3 Summary

7 FUTURE DIRECTIONS

8 CONCLUSION