A Topological Representation with Object-Path Graphs for Open-Vocabulary Instance Navigation

arXiv:2609.24189 · cs.RO · Submitted 2026-09-21 · Read on arXiv

cs.RO

Submitted: 2026-09-21

Updated: 2026-09-21

Terminology

• Grounding — 11× in this paper · explained in 3 episodes
• Alignment — 10× in this paper · explained in 1 episode
• Cosine Similarity — 4× in this paper · explained in 3 episodes
• Semantic Similarity — 4× in this paper · explained in 2 episodes
• Ablation — 3× in this paper · explained in 1 episode
• Ablation study — 2× in this paper · explained in 1 episode
• Accuracy — 2× in this paper · explained in 1 episode
• Angular Error — 2× in this paper · explained in 1 episode
• Path Length Ratio — 2× in this paper
• Semantic Understanding — 2× in this paper · explained in 2 episodes
• Success Rate — 2× in this paper
• Vision-language models — 2× in this paper · explained in 2 episodes
• Alignment Problem — 1× in this paper · explained in 1 episode
• Embeddings — 1× in this paper · explained in 2 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Graph Construction — 1× in this paper · explained in 3 episodes
• IEEE International Conference on Robotics and Automation — 1× in this paper
• Large Language Models (LLMs) — 1× in this paper · explained in 6 episodes
• Navigation Success Rate — 1× in this paper
• Redundancy — 1× in this paper · explained in 2 episodes
• Segment Anything Model (SAM) — 1× in this paper · explained in 2 episodes
• Segmentation Masks — 1× in this paper · explained in 2 episodes
• Transferability — 1× in this paper · explained in 4 episodes
• Verification — 1× in this paper · explained in 2 episodes
• Vision-Language Models (VLMs) — 1× in this paper · explained in 6 episodes
• World Model — 1× in this paper · explained in 7 episodes

Sources

• MC-GPT: Empowering Vision-and-Language Navigation with Memory Map and Reasoning Chains
• LOVON: Legged Open-Vocabulary Object Navigator
• PIVOT: Iterative Visual Prompting Elicits Actionable Knowledge for VLMs
• Habitat-Matterport 3D Dataset (HM3D): 1000 Large-scale 3D Environments for Embodied AI
• The Replica Dataset: A Digital Replica of Indoor Spaces

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