{"id":"https://openalex.org/W4413977948","doi":"https://doi.org/10.1109/lra.2025.3606388","title":"ApexNAV: An Adaptive Exploration Strategy for Zero-Shot Object Navigation With Target-Centric Semantic Fusion","display_name":"ApexNAV: An Adaptive Exploration Strategy for Zero-Shot Object Navigation With Target-Centric Semantic Fusion","publication_year":2025,"publication_date":"2025-09-04","ids":{"openalex":"https://openalex.org/W4413977948","doi":"https://doi.org/10.1109/lra.2025.3606388"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3606388","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3606388","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"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":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Mingjie Zhang","orcid":"https://orcid.org/0009-0004-1936-9526"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Mingjie Zhang","raw_affiliation_strings":["Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China"],"raw_orcid":"https://orcid.org/0009-0004-1936-9526","affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101281451","display_name":"Yuheng Du","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yuheng Du","raw_affiliation_strings":["Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":null,"display_name":"Chengkai Wu","orcid":"https://orcid.org/0009-0002-6571-6512"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chengkai Wu","raw_affiliation_strings":["Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China"],"raw_orcid":"https://orcid.org/0009-0002-6571-6512","affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109404467","display_name":"Jinni Zhou","orcid":"https://orcid.org/0000-0002-9093-5648"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jinni Zhou","raw_affiliation_strings":["Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045145662","display_name":"Ziming Qi","orcid":"https://orcid.org/0000-0002-1109-1775"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhenchao Qi","raw_affiliation_strings":["Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jun Ma","orcid":"https://orcid.org/0000-0002-9405-8232"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jun Ma","raw_affiliation_strings":["Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-9405-8232","affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101982552","display_name":"Boyu Zhou","orcid":"https://orcid.org/0000-0002-4125-7481"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Boyu Zhou","raw_affiliation_strings":["Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-4125-7481","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.3997,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.93243995,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"10","issue":"11","first_page":"11530","last_page":"11537"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9879000186920166,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9879000186920166,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9628999829292297,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9563000202178955,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/zero","display_name":"Zero (linguistics)","score":0.6160390973091125},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.59763103723526},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5975927114486694},{"id":"https://openalex.org/keywords/shot","display_name":"Shot (pellet)","score":0.5894556045532227},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5633798241615295},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5507912039756775},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.542102038860321},{"id":"https://openalex.org/keywords/linguistics","display_name":"Linguistics","score":0.06455501914024353},{"id":"https://openalex.org/keywords/philosophy","display_name":"Philosophy","score":0.0462210476398468}],"concepts":[{"id":"https://openalex.org/C2780813799","wikidata":"https://www.wikidata.org/wiki/Q3274237","display_name":"Zero (linguistics)","level":2,"score":0.6160390973091125},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.59763103723526},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5975927114486694},{"id":"https://openalex.org/C2778344882","wikidata":"https://www.wikidata.org/wiki/Q278938","display_name":"Shot (pellet)","level":2,"score":0.5894556045532227},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5633798241615295},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5507912039756775},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.542102038860321},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.06455501914024353},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0462210476398468},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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":2,"locations":[{"id":"doi:10.1109/lra.2025.3606388","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3606388","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"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":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-165946","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-165946","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"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":"Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W2964339842","https://openalex.org/W3125164440","https://openalex.org/W3135798748","https://openalex.org/W3140673083","https://openalex.org/W4313180266","https://openalex.org/W4385416186","https://openalex.org/W4386075729","https://openalex.org/W4386076325","https://openalex.org/W4386083015","https://openalex.org/W4389666115","https://openalex.org/W4401042437","https://openalex.org/W4401417061","https://openalex.org/W4404612908","https://openalex.org/W4405786698","https://openalex.org/W4413926125"],"related_works":["https://openalex.org/W2074502265","https://openalex.org/W4214877189","https://openalex.org/W2773965352","https://openalex.org/W2381179799","https://openalex.org/W4411535265","https://openalex.org/W2980279061","https://openalex.org/W2334685461","https://openalex.org/W2366718574","https://openalex.org/W2359774528","https://openalex.org/W4298312966"],"abstract_inverted_index":{"Navigating":[0],"unknown":[1],"environments":[2,32,46],"to":[3,42,95],"find":[4],"a":[5,9,58,106],"target":[6,117],"object":[7,60,123],"is":[8,15,64],"significant":[10],"challenge.":[11],"While":[12],"semantic":[13,35,75,87,108],"information":[14,76],"crucial":[16],"for":[17,23],"navigation,":[18],"relying":[19],"solely":[20],"on":[21,132],"it":[22,140],"decision-making":[24],"may":[25],"not":[26],"always":[27],"be":[28],"efficient,":[29],"especially":[30,44],"in":[31,45,81,144,168],"with":[33,47],"weak":[34],"cues.":[36],"Additionally,":[37],"many":[38],"methods":[39,143],"are":[40,91,100],"susceptible":[41],"misdetections,":[43],"visually":[48],"similar":[49,119],"objects.":[50],"To":[51],"address":[52],"these":[53],"limitations,":[54],"we":[55,104],"propose":[56,105],"ApexNav,":[57],"zero-shot":[59],"navigation":[61],"framework":[62],"that":[63,111],"both":[65,145],"more":[66],"efficient":[67],"and":[68,93,118,136,147],"reliable.":[69],"For":[70,102],"efficiency,":[71],"ApexNav":[72,131,167],"adaptively":[73],"utilizes":[74],"by":[77],"analyzing":[78],"its":[79],"distribution":[80],"the":[82,116,133,155,164],"environment,":[83],"guiding":[84],"exploration":[85,97],"through":[86],"reasoning":[88],"when":[89,98],"cues":[90],"strong,":[92],"switching":[94],"geometry-based":[96],"they":[99],"weak.":[101],"reliability,":[103],"target-centric":[107],"fusion":[109],"method":[110],"preserves":[112],"long-term":[113],"memory":[114],"of":[115,157,166],"objects,":[120],"enabling":[121],"robust":[122],"identification":[124],"even":[125],"under":[126],"noisy":[127],"detections.":[128],"We":[129],"evaluate":[130],"HM3Dv1,":[134],"HM3Dv2,":[135],"MP3D":[137],"datasets,":[138],"where":[139],"outperforms":[141],"state-of-the-art":[142],"SR":[146],"SPL":[148],"metrics.":[149],"Comprehensive":[150],"ablation":[151],"studies":[152],"further":[153],"demonstrate":[154],"effectiveness":[156],"each":[158],"module.":[159],"Furthermore,":[160],"real-world":[161],"experiments":[162],"validate":[163],"practicality":[165],"physical":[169],"environments.":[170]},"counts_by_year":[{"year":2026,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}