NaviScale: Generating Large-Scale Semantic Map Datasets for Object Navigation

arXiv:2609.27218 · cs.RO · Submitted 2026-09-23 · Read on arXiv

cs.RO

Submitted: 2026-09-23

Updated: 2026-09-30

Terminology

• Benchmark — 10× in this paper · explained in 2 episodes
• Ablation — 7× in this paper · explained in 1 episode
• Success Rate — 6× in this paper
• Core — 3× in this paper · explained in 2 episodes
• Embodied AI — 3× in this paper · explained in 2 episodes
• Ablation study — 2× in this paper · explained in 1 episode
• Adaptation — 2× in this paper · explained in 1 episode
• Fast Marching Method — 2× in this paper
• Instance Segmentation — 2× in this paper · explained in 3 episodes
• Sim-to-Real Transfer — 2× in this paper · explained in 2 episodes
• Transformer — 2× in this paper · explained in 2 episodes
• Ablation Studies — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Attention Mechanism — 1× in this paper · explained in 3 episodes
• Cross-Attention Mechanism — 1× in this paper · explained in 2 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Multimodal Fusion — 1× in this paper · explained in 3 episodes
• Robustness — 1× in this paper · explained in 5 episodes

Sources

• Matterport3D: Learning from RGB-D Data in Indoor Environments
• Habitat-Matterport 3D Semantics Dataset
• The Replica Dataset: A Digital Replica of Indoor Spaces
• RoBERTa: A Robustly Optimized BERT Pretraining Approach
• GPT-4 Technical Report
• ChatGLM: A Family of Large Language Models from GLM-130B to GLM-4 All Tools
• TopV-Nav: Unlocking the Top-View Spatial Reasoning Potential of MLLM for Zero-shot Object Navigation

Related papers

• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies
• Fine-tuning is Not Enough: A Parallel Framework for Collaborative Imitation and Reinforcement Learning in End-to-end Autonomous Driving