That is technically true, but you do NOT want clear goals though. Clear goals are for junior "code monkeys" who just do what they are told without any concern for if they are going the right thing.
If you want input into your work and the feeling that you are actually doing the right thing you need to have the context around your goals. Your physical presence in the offices lets you take part in "water cooler" and "hallway" conversations with various people.
Yes you can do some of that via email, forums, and the like. However the human factor of your presence changes the tone of the conversation. It isn't just you either, the other person(s) involved.
When you have a short, critical, task that needs to be done fast, then staying home without a phone or email is the best way to get it done fast. However for anything else communication is an important part of your job and physical presence aids that.
That isn't to say remote work cannot - it does. However there are real disadvantages to it that need to be considered.