{"id":"https://openalex.org/W4415954350","doi":"https://doi.org/10.48550/arxiv.2510.16518","title":"DIV-Nav: Open-Vocabulary Spatial Relationships for Multi-Object Navigation","display_name":"DIV-Nav: Open-Vocabulary Spatial Relationships for Multi-Object Navigation","publication_year":2025,"publication_date":"2025-10-18","ids":{"openalex":"https://openalex.org/W4415954350","doi":"https://doi.org/10.48550/arxiv.2510.16518"},"language":null,"primary_location":{"id":"pmh:oai:arXiv.org:2510.16518","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2510.16518","pdf_url":"https://arxiv.org/pdf/2510.16518","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"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"},"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2510.16518","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5114395730","display_name":"Jes\u00fas Ortega-Peimbert","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Ortega-Peimbert, Jes\u00fas","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013137247","display_name":"Finn Lukas Busch","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Busch, Finn Lukas","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048949232","display_name":"Timon Homberger","orcid":"https://orcid.org/0009-0000-4369-1110"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Homberger, Timon","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021059709","display_name":"Quantao Yang","orcid":"https://orcid.org/0000-0001-5655-0990"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Quantao","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5014501729","display_name":"Olov Andersson","orcid":"https://orcid.org/0000-0001-7248-1112"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Andersson, Olov","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5114395730"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.5011000037193298,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.5011000037193298,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.18860000371932983,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11904","display_name":"Spatial Cognition and Navigation","score":0.0632999986410141,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5827000141143799},{"id":"https://openalex.org/keywords/semantic-mapping","display_name":"Semantic mapping","score":0.5108000040054321},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4440999925136566},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.40389999747276306},{"id":"https://openalex.org/keywords/object-based-spatial-database","display_name":"Object-based spatial database","score":0.3977999985218048},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.39559999108314514},{"id":"https://openalex.org/keywords/spatial-analysis","display_name":"Spatial analysis","score":0.3781999945640564}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7886999845504761},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5827000141143799},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5440999865531921},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.5108000040054321},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4440999925136566},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.40389999747276306},{"id":"https://openalex.org/C153938966","wikidata":"https://www.wikidata.org/wiki/Q3348148","display_name":"Object-based spatial database","level":4,"score":0.3977999985218048},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.39559999108314514},{"id":"https://openalex.org/C159620131","wikidata":"https://www.wikidata.org/wiki/Q1938983","display_name":"Spatial analysis","level":2,"score":0.3781999945640564},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.36820000410079956},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.36070001125335693},{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.3531999886035919},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.35269999504089355},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.34709998965263367},{"id":"https://openalex.org/C23123220","wikidata":"https://www.wikidata.org/wiki/Q816826","display_name":"Information retrieval","level":1,"score":0.33390000462532043},{"id":"https://openalex.org/C90312973","wikidata":"https://www.wikidata.org/wiki/Q7449052","display_name":"Semantic data model","level":2,"score":0.320499986410141},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.31290000677108765},{"id":"https://openalex.org/C195324797","wikidata":"https://www.wikidata.org/wiki/Q33742","display_name":"Natural language","level":2,"score":0.3068999946117401},{"id":"https://openalex.org/C27511587","wikidata":"https://www.wikidata.org/wiki/Q2178623","display_name":"Spatial relation","level":2,"score":0.3046000003814697},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.2971000075340271},{"id":"https://openalex.org/C150140777","wikidata":"https://www.wikidata.org/wiki/Q960648","display_name":"Point of interest","level":2,"score":0.27559998631477356},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.27489998936653137},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.263700008392334}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2510.16518","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2510.16518","pdf_url":"https://arxiv.org/pdf/2510.16518","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"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.2510.16518","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2510.16518","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"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":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2510.16518","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2510.16518","pdf_url":"https://arxiv.org/pdf/2510.16518","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4415954350.pdf","grobid_xml":"https://content.openalex.org/works/W4415954350.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Advances":[0],"in":[1],"open-vocabulary":[2],"semantic":[3,67,101,109,146],"mapping":[4,147],"and":[5,119,171,187],"object":[6,26,36],"navigation":[7,27,74],"have":[8],"enabled":[9],"robots":[10],"to":[11,112,138,148,153],"perform":[12],"an":[13,20,35],"informed":[14],"search":[15,151,158],"of":[16,65,84,107,144],"their":[17],"environment":[18],"for":[19,31],"arbitrary":[21],"object.":[22],"However,":[23],"such":[24,53,149],"zero-shot":[25],"is":[28],"typically":[29],"designed":[30],"simple":[32],"queries":[33,49,98,152],"with":[34,50,91],"name":[37],"like":[38],"\"television\"":[39],"or":[40],"\"blue":[41],"rug\".":[42],"Here,":[43],"we":[44],"consider":[45],"more":[46,154],"complex":[47,92,128],"free-text":[48],"spatial":[51,93,129,150],"relationships,":[52],"as":[54],"\"find":[55],"the":[56,59,105,122,126,140,157,168],"remote":[57],"on":[58,99,167,174],"table\"":[60],"while":[61],"still":[62],"leveraging":[63],"robustness":[64],"a":[66,72,82,100,132,175,181],"map.":[68],"We":[69,134,160],"present":[70],"DIV-Nav,":[71],"real-time":[73],"system":[75,163],"that":[76],"efficiently":[77],"addresses":[78],"this":[79],"problem":[80],"through":[81,164],"series":[83],"relaxations:":[85],"i)":[86],"Decomposing":[87],"natural":[88],"language":[89],"instructions":[90],"constraints":[94],"into":[95],"simpler":[96],"object-level":[97],"map,":[102],"ii)":[103],"computing":[104],"Intersection":[106],"individual":[108],"belief":[110],"maps":[111],"identify":[113],"regions":[114],"where":[115],"all":[116],"objects":[117,124],"co-exist,":[118],"iii)":[120],"Validating":[121],"discovered":[123],"against":[125],"original,":[127],"constrains":[130],"via":[131],"LVLM.":[133],"further":[135],"investigate":[136],"how":[137],"adapt":[139],"frontier":[141],"exploration":[142],"objectives":[143],"online":[145],"effectively":[155],"guide":[156],"process.":[159],"validate":[161],"our":[162],"extensive":[165],"experiments":[166],"MultiON":[169],"benchmark":[170],"real-world":[172],"deployment":[173],"Boston":[176],"Dynamics":[177],"Spot":[178],"robot":[179],"using":[180],"Jetson":[182],"Orin":[183],"AGX.":[184],"More":[185],"details":[186],"videos":[188],"are":[189],"available":[190],"at":[191],"https://anonsub42.github.io/reponame/":[192]},"counts_by_year":[],"updated_date":"2026-04-03T22:45:19.894376","created_date":"2025-10-22T00:00:00"}
