{"id":"https://openalex.org/W4413145337","doi":"https://doi.org/10.1109/cvpr52734.2025.01775","title":"UniGoal: Towards Universal Zero-shot Goal-oriented Navigation","display_name":"UniGoal: Towards Universal Zero-shot Goal-oriented Navigation","publication_year":2025,"publication_date":"2025-06-10","ids":{"openalex":"https://openalex.org/W4413145337","doi":"https://doi.org/10.1109/cvpr52734.2025.01775"},"language":"en","primary_location":{"id":"doi:10.1109/cvpr52734.2025.01775","doi":"https://doi.org/10.1109/cvpr52734.2025.01775","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cvpr52734.2025.01775","pdf_url":null,"source":{"id":"https://openalex.org/S4210176548","display_name":"IEEE Computer Society Conference on Computer Vision and Pattern Recognition/Proceedings - IEEE Computer Society Conference on Computer Vision and Pattern Recognition/Proceedings","issn_l":"1063-6919","issn":["1063-6919","2332-564X","2575-7075"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2503.10630","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5025581121","display_name":"Hang Hubert Yin","orcid":"https://orcid.org/0000-0002-9762-4818","observed_orcids":["https://orcid.org/0000-0002-9762-4818"]},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hang Yin","raw_affiliation_strings":["Tsinghua University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100675886","display_name":"Xiuwei Xu","orcid":"https://orcid.org/0009-0006-2991-692X","observed_orcids":["https://orcid.org/0009-0006-2991-692X","https://orcid.org/0009-0003-2871-5008"]},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiuwei Xu","raw_affiliation_strings":["Tsinghua University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100967164","display_name":"Linqing Zhao","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Linqing Zhao","raw_affiliation_strings":["Tsinghua University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100389366","display_name":"Ziwei Wang","orcid":"https://orcid.org/0000-0001-9225-8495","observed_orcids":["https://orcid.org/0000-0001-9225-8495","https://orcid.org/0000-0002-1407-4444","https://orcid.org/0009-0002-1930-7531","https://orcid.org/0009-0002-9656-0581","https://orcid.org/0000-0003-0981-1072"]},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Ziwei Wang","raw_affiliation_strings":["Nanyang Technological University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100620306","display_name":"Jie Zhou","orcid":"https://orcid.org/0000-0001-7701-234X","observed_orcids":["https://orcid.org/0000-0001-7701-234X","https://orcid.org/0009-0002-1359-658X","https://orcid.org/0009-0008-9193-5296"]},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Zhou","raw_affiliation_strings":["Tsinghua University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100460385","display_name":"Jiwen Lu","orcid":"https://orcid.org/0000-0002-6121-5529","observed_orcids":["https://orcid.org/0000-0002-6121-5529"]},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiwen Lu","raw_affiliation_strings":["Tsinghua University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":19.9133,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.9964133,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"19057","last_page":"19066"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.5679000020027161,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.5679000020027161,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.08760000020265579,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.05550000071525574,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/zero-shot-navigation","display_name":"zero-shot navigation","score":0.8610000014305115},{"id":"https://openalex.org/keywords/goal-directed-navigation","display_name":"goal-directed navigation","score":0.9890000224113464},{"id":"https://openalex.org/keywords/large-language-models","display_name":"large language models","score":0.871999979019165},{"id":"https://openalex.org/keywords/graph-matching","display_name":"graph matching","score":0.9649999737739563},{"id":"https://openalex.org/keywords/graph-reasoning","display_name":"graph reasoning","score":0.7080000042915344},{"id":"https://openalex.org/keywords/coordinate-projection","display_name":"coordinate projection","score":0.6790000200271606},{"id":"https://openalex.org/keywords/robot-navigation","display_name":"robot navigation","score":0.4429999887943268}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.612913966178894},{"id":"https://openalex.org/C2780813799","wikidata":"https://www.wikidata.org/wiki/Q3274237","display_name":"Zero (linguistics)","level":2,"score":0.5818157196044922},{"id":"https://openalex.org/C2778344882","wikidata":"https://www.wikidata.org/wiki/Q278938","display_name":"Shot (pellet)","level":2,"score":0.5646511316299438},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/cvpr52734.2025.01775","doi":"https://doi.org/10.1109/cvpr52734.2025.01775","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cvpr52734.2025.01775","pdf_url":null,"source":{"id":"https://openalex.org/S4210176548","display_name":"IEEE Computer Society Conference on Computer Vision and Pattern Recognition/Proceedings - IEEE Computer Society Conference on Computer Vision and Pattern Recognition/Proceedings","issn_l":"1063-6919","issn":["1063-6919","2332-564X","2575-7075"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2503.10630","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2503.10630","pdf_url":"https://arxiv.org/pdf/2503.10630","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2503.10630","doi":"https://doi.org/10.48550/arxiv.2503.10630","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2503.10630","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2503.10630","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2503.10630","pdf_url":"https://arxiv.org/pdf/2503.10630","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"sustainable_development_goals_aurora":[],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W2010541316","https://openalex.org/W2054113582","https://openalex.org/W2929928372","https://openalex.org/W2964339842","https://openalex.org/W2967353954","https://openalex.org/W2978091520","https://openalex.org/W3006140463","https://openalex.org/W3015373178","https://openalex.org/W3017177456","https://openalex.org/W3165538103","https://openalex.org/W4226167525","https://openalex.org/W4313180266","https://openalex.org/W4383108895","https://openalex.org/W4386075968","https://openalex.org/W4386083015","https://openalex.org/W4389666115","https://openalex.org/W4390872507","https://openalex.org/W4390874160","https://openalex.org/W4390874813","https://openalex.org/W4393154152","https://openalex.org/W4399177289","https://openalex.org/W4401042437","https://openalex.org/W4401414715","https://openalex.org/W4401417061","https://openalex.org/W4401417232","https://openalex.org/W4401417236","https://openalex.org/W4402354030","https://openalex.org/W4402684154","https://openalex.org/W4402716096","https://openalex.org/W4402979664","https://openalex.org/W4404770192"],"related_works":["https://openalex.org/W7168182341","https://openalex.org/W7160888666","https://openalex.org/W7151875745","https://openalex.org/W7139932755","https://openalex.org/W7159024082","https://openalex.org/W7211946421","https://openalex.org/W4416073090","https://openalex.org/W4415798988","https://openalex.org/W7168861941","https://openalex.org/W7154469812"],"abstract_inverted_index":{"In":[0],"this":[1,82],"paper,":[2],"we":[3,50,88,108],"propose":[4,51,124],"a":[5,29,52,181,209],"general":[6],"framework":[7,18],"for":[8,24,103,175],"universal":[9,47,219],"zero-shot":[10,14,48,201,215],"goal-oriented":[11],"navigation.":[12],"Existing":[13],"methods":[15,216],"build":[16],"inference":[17],"upon":[19],"large":[20],"language":[21],"models":[22],"(LLM)":[23],"specific":[25],"tasks,":[26],"which":[27],"differs":[28],"lot":[30],"in":[31],"overall":[32],"pipeline":[33],"and":[34,65,85,97,116,123,157,170,217],"fails":[35],"to":[36,56,100,127,134,161,184],"generalize":[37],"across":[38],"different":[39,58,125,135],"types":[40],"of":[41,46,73,131,144],"goal.":[42],"Towards":[43],"the":[44,71,113,151,163],"aim":[45],"navigation,":[49],"uniform":[53],"graph":[54,110,115,118,168],"representation":[55],"unify":[57],"goals,":[59],"including":[60],"object":[61],"category,":[62],"instance":[63],"image":[64],"text":[66,96],"description.":[67],"We":[68,178],"also":[69,179],"convert":[70],"observation":[72],"agent":[74,139,152],"into":[75],"an":[76],"online":[77],"maintained":[78],"scene":[79,84,114,167],"graph.":[80],"With":[81,148],"consistent":[83],"goal":[86,117,130,145,164,171],"representation,":[87],"preserve":[89],"most":[90],"structural":[91],"information":[92],"compared":[93],"with":[94,208],"pure":[95],"are":[98,173],"able":[99],"leverage":[101],"LLM":[102],"explicit":[104],"graph-based":[105],"reasoning.":[106],"Specifically,":[107],"conduct":[109],"matching":[111,136],"between":[112,188],"at":[119],"each":[120],"time":[121],"instant":[122],"strategies":[126],"generate":[128],"long-term":[129],"exploration":[132],"according":[133],"states.":[137],"The":[138],"first":[140],"iteratively":[141],"searches":[142],"subgraph":[143],"when":[146],"zero-matched.":[147],"partial":[149],"matching,":[150],"then":[153],"utilizes":[154],"coordinate":[155],"projection":[156],"anchor":[158],"pair":[159],"alignment":[160],"infer":[162],"location.":[165],"Finally":[166],"correction":[169],"verification":[172],"applied":[174],"perfect":[176],"matching.":[177],"present":[180],"blacklist":[182],"mechanism":[183],"enable":[185],"robust":[186],"switch":[187],"stages.":[189],"Extensive":[190],"experiments":[191],"on":[192,203],"several":[193],"benchmarks":[194],"show":[195],"that":[196],"our":[197],"UniGoal":[198],"achieves":[199],"state-of-the-art":[200],"performance":[202],"three":[204],"studied":[205],"navigation":[206],"tasks":[207],"single":[210],"model,":[211],"even":[212],"outperforming":[213],"task-specific":[214],"supervised":[218],"methods.":[220],"Project":[221],"Page.":[222]},"counts_by_year":[{"year":2026,"cited_by_count":18},{"year":2025,"cited_by_count":3}],"updated_date":"2026-10-25T09:29:13.331239","created_date":"2025-10-10T00:00:00"}
