{"id":"https://openalex.org/W7134823265","doi":"https://doi.org/10.48550/arxiv.2603.06914","title":"SysNav: Multi-Level Systematic Cooperation Enables Real-World, Cross-Embodiment Object Navigation","display_name":"SysNav: Multi-Level Systematic Cooperation Enables Real-World, Cross-Embodiment Object Navigation","publication_year":2026,"publication_date":"2026-03-06","ids":{"openalex":"https://openalex.org/W7134823265","doi":"https://doi.org/10.48550/arxiv.2603.06914"},"language":null,"primary_location":{"id":"pmh:doi:10.48550/arxiv.2603.06914","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101292093","display_name":"Haokun Zhu","orcid":"https://orcid.org/0009-0009-8014-2730"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Zhu, Haokun","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128667252","display_name":"Zongtai Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Zongtai","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128678695","display_name":"Zihan Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Zihan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128631500","display_name":"Kevin Guo","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Guo, Kevin","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034362856","display_name":"Zhengzhi Lin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lin, Zhengzhi","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128659657","display_name":"Yuxin Cai","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cai, Yuxin","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112150731","display_name":"Guofei Chen","orcid":"https://orcid.org/0000-0003-2593-3395"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Guofei","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128636840","display_name":"Chen Lv","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lv, Chen","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128638573","display_name":"Wenshan Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Wenshan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128655583","display_name":"Jean Oh","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Oh, Jean","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5128666792","display_name":"Ji Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Ji","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":11,"corresponding_author_ids":["https://openalex.org/A5101292093"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"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":0.9333000183105469,"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":0.9333000183105469,"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":0.019200000911951065,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.01080000028014183,"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/leverage","display_name":"Leverage (statistics)","score":0.6901999711990356},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5587000250816345},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.5386999845504761},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.5199000239372253},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.48980000615119934},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.42969998717308044},{"id":"https://openalex.org/keywords/navigational-aid","display_name":"Navigational aid","score":0.4097999930381775}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7203999757766724},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.6901999711990356},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5587000250816345},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.5386999845504761},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5230000019073486},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.5199000239372253},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.48980000615119934},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.42969998717308044},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4262000024318695},{"id":"https://openalex.org/C2778761605","wikidata":"https://www.wikidata.org/wiki/Q3565782","display_name":"Navigational aid","level":2,"score":0.4097999930381775},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.39629998803138733},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3824999928474426},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.37279999256134033},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3197999894618988},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.3025999963283539},{"id":"https://openalex.org/C43472768","wikidata":"https://www.wikidata.org/wiki/Q7855620","display_name":"Turn-by-turn navigation","level":5,"score":0.29350000619888306},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2782000005245209},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.2711000144481659},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.26330000162124634}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:doi:10.48550/arxiv.2603.06914","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2603.06914","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.06914","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:doi:10.48550/arxiv.2603.06914","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[{"display_name":"Partnerships for the goals","id":"https://metadata.un.org/sdg/17","score":0.4755798876285553}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Object":[0],"navigation":[1,43,76,104,114,181,203],"(ObjectNav)":[2],"in":[3,27,176,204],"real-world":[4,42,54,69,169,206],"environments":[5],"is":[6,190,220],"a":[7,46,57,63,94,111,153],"complex":[8,17,205],"problem":[9,59],"that":[10,116],"requires":[11],"simultaneously":[12],"addressing":[13],"multiple":[14],"challenges,":[15],"including":[16],"spatial":[18],"structure,":[19],"long-horizon":[20],"planning":[21,77],"and":[22,60,78,84,98,161,166,180,197],"semantic":[23,35,74],"understanding.":[24],"Recent":[25],"advances":[26],"Vision-Language":[28],"Models":[29],"(VLMs)":[30],"offer":[31],"promising":[32],"capabilities":[33],"for":[34,68,120],"understanding,":[36],"yet":[37],"effectively":[38,124],"integrating":[39],"them":[40],"into":[41,93],"systems":[44],"remains":[45],"non-trivial":[47],"challenge.":[48],"In":[49],"this":[50],"work,":[51],"we":[52,89,109],"formulate":[53],"ObjectNav":[55,65],"as":[56],"system-level":[58],"introduce":[61,110],"SysNav,":[62],"three-level":[64],"system":[66,131,149,172,193],"designed":[67],"crossembodiment":[70],"deployment.":[71],"SysNav":[72,189],"decouples":[73],"reasoning,":[75],"motion":[79,143],"control":[80,144],"to":[81,101],"ensure":[82],"robustness":[83],"generalizability.":[85],"At":[86,106,133],"the":[87,91,107,134,157,162,184,191],"high-level,":[88],"summarize":[90],"environment":[92],"structured":[95],"scene":[96],"representation":[97],"leverage":[99],"VLMs":[100],"provide":[102],"semantic-grounded":[103],"guidance.":[105],"mid-level,":[108],"hierarchical":[112],"room-based":[113],"strategy":[115],"reserves":[117],"VLM":[118],"guidance":[119],"room-level":[121],"decisions,":[122],"which":[123],"utilizes":[125],"its":[126],"reasoning":[127],"ability":[128],"while":[129],"ensuring":[130],"efficiency.":[132,182],"low-level,":[135],"planned":[136],"waypoints":[137],"are":[138],"executed":[139],"through":[140],"different":[141],"embodiment-specific":[142],"modules.":[145],"We":[146],"deploy":[147],"our":[148,187],"on":[150,211],"three":[151],"embodiments,":[152],"custom-built":[154],"wheeled":[155],"robot,":[156],"Unitree":[158,163],"Go2":[159],"quadruped":[160],"G1":[164],"humanoid,":[165],"conduct":[167],"190":[168],"experiments.":[170],"Our":[171],"achieves":[173],"substantial":[174],"improvements":[175],"both":[177],"success":[178],"rate":[179],"To":[183],"best":[185],"of":[186,195],"knowledge,":[188],"first":[192],"capable":[194],"reliably":[196],"efficiently":[198],"completing":[199],"building-scale":[200],"long-range":[201],"object":[202],"environments.":[207],"Furthermore,":[208],"extensive":[209],"experiments":[210],"four":[212],"simulation":[213],"benchmarks":[214],"demonstrate":[215],"state-of-the-art":[216],"performance.":[217],"Project":[218],"page":[219],"available":[221],"at:":[222],"https://cmu-vln.github.io/.":[223]},"counts_by_year":[],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2026-03-11T00:00:00"}