OccPlanner: Goal-Aware Occupancy-Conditioned Diffusion Planner for PixelGoal Navigation

arXiv:2608.14160 · cs.RO · Submitted 2026-08-14 · Read on arXiv

cs.RO

Submitted: 2026-08-14

Updated: 2026-09-17

Terminology

• Grounding — 15× in this paper · explained in 3 episodes
• Ablation — 5× in this paper · explained in 1 episode
• Fine-Tuning — 4× in this paper · explained in 5 episodes
• International Conference on Robotics and Automation — 4× in this paper
• Alignment — 2× in this paper · explained in 1 episode
• Benchmark — 2× in this paper · explained in 2 episodes
• CVF International Conference on Computer Vision — 2× in this paper
• Conference on Computer Vision and Pattern Recognition — 2× in this paper
• Foundation Model — 2× in this paper · explained in 3 episodes
• Reinforcement Learning — 2× in this paper · explained in 4 episodes
• Transformer — 2× in this paper · explained in 2 episodes
• Adam — 1× in this paper · explained in 2 episodes
• Adaptation — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 4 episodes
• Embodied AI — 1× in this paper · explained in 2 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Generalization — 1× in this paper · explained in 13 episodes

Sources

• POINav: Benchmarking and Enhancing Final-Meters Arrival in Real-World Vision-Language Navigation
• Goal2Pixel: Grounding Goals to Pixels for Vision-Language Navigation
• LoGoPlanner: Localization Grounded Navigation Policy with Metric-aware Visual Geometry
• NavDP: Learning Sim-to-Real Navigation Diffusion Policy with Privileged Information Guidance
• SAM 3: Segment Anything with Concepts

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