{"id":"https://openalex.org/W7148504426","doi":"https://doi.org/10.48550/arxiv.2604.00265","title":"Benchmarking Interaction, Beyond Policy: a Reproducible Benchmark for Collaborative Instance Object Navigation","display_name":"Benchmarking Interaction, Beyond Policy: a Reproducible Benchmark for Collaborative Instance Object Navigation","publication_year":2026,"publication_date":"2026-03-31","ids":{"openalex":"https://openalex.org/W7148504426","doi":"https://doi.org/10.48550/arxiv.2604.00265"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.00265","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.00265","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":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2604.00265","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5093448585","display_name":"Edoardo Zorzi","orcid":"https://orcid.org/0000-0001-7090-9592"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Zorzi, Edoardo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061792103","display_name":"Francesco Taioli","orcid":"https://orcid.org/0000-0003-4133-4472"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Taioli, Francesco","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132811258","display_name":"Yiming Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Yiming","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033671063","display_name":"Marco Cristani","orcid":"https://orcid.org/0000-0002-0523-6042"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cristani, Marco","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045922629","display_name":"Alessandro Farinelli","orcid":"https://orcid.org/0000-0002-2592-5814"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Farinelli, Alessandro","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078441040","display_name":"Alberto Castellini","orcid":"https://orcid.org/0000-0001-8420-0699"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Castellini, Alberto","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5064529297","display_name":"Loris Bazzani","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bazzani, Loris","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5093448585"],"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":0.9749000072479248,"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":0.9749000072479248,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.00839999970048666,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10028","display_name":"Topic Modeling","score":0.0024999999441206455,"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/benchmark","display_name":"Benchmark (surveying)","score":0.6502000093460083},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5449000000953674},{"id":"https://openalex.org/keywords/ambiguity","display_name":"Ambiguity","score":0.5412999987602234},{"id":"https://openalex.org/keywords/benchmarking","display_name":"Benchmarking","score":0.5378999710083008},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.5085999965667725},{"id":"https://openalex.org/keywords/protocol","display_name":"Protocol (science)","score":0.5042999982833862},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.4318999946117401},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.4250999987125397},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.35370001196861267}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.788100004196167},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.6502000093460083},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5449000000953674},{"id":"https://openalex.org/C2780522230","wikidata":"https://www.wikidata.org/wiki/Q1140419","display_name":"Ambiguity","level":2,"score":0.5412999987602234},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5393000245094299},{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.5378999710083008},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5361999869346619},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.5085999965667725},{"id":"https://openalex.org/C2780385302","wikidata":"https://www.wikidata.org/wiki/Q367158","display_name":"Protocol (science)","level":3,"score":0.5042999982833862},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.4318999946117401},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.4250999987125397},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.35370001196861267},{"id":"https://openalex.org/C195324797","wikidata":"https://www.wikidata.org/wiki/Q33742","display_name":"Natural language","level":2,"score":0.3467999994754791},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.3463999927043915},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.3303999900817871},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.30219998955726624},{"id":"https://openalex.org/C89505385","wikidata":"https://www.wikidata.org/wiki/Q47146","display_name":"User interface","level":2,"score":0.29339998960494995},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.29010000824928284},{"id":"https://openalex.org/C174252522","wikidata":"https://www.wikidata.org/wiki/Q3816772","display_name":"Natural language user interface","level":3,"score":0.2851000130176544},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.26420000195503235},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.26339998841285706},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.2596000134944916},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.25929999351501465},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2590000033378601},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.25850000977516174},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.25619998574256897}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.00265","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.00265","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":"doi:10.48550/arxiv.2604.00265","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.00265","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":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"We":[0],"propose":[1],"Question-Asking":[2],"Navigation":[3,13],"(QAsk-Nav),":[4],"the":[5,58,139],"first":[6],"reproducible":[7],"benchmark":[8],"for":[9,83,128,150],"Collaborative":[10],"Instance":[11],"Object":[12],"(CoIN)":[14],"that":[15,120,153],"enables":[16],"an":[17,30,105,117],"explicit,":[18],"separate":[19],"assessment":[20],"of":[21,86,102,132,135],"embodied":[22,31],"navigation":[23,77,107,152],"and":[24,50,79,115,125,130,157,174],"collaborative":[25,87,151],"question":[26],"asking.":[27],"CoIN":[28,71,136,167],"tasks":[29],"agent":[32],"with":[33,54,109],"reaching":[34],"a":[35,55,96,146],"target":[36,113],"specified":[37],"in":[38,169],"free-form":[39],"natural":[40],"language":[41],"under":[42],"partial":[43],"observability,":[44],"using":[45],"only":[46],"egocentric":[47],"visual":[48],"observations":[49],"interactive":[51,133],"natural-language":[52],"dialogue":[53,59],"human,":[56],"where":[57],"can":[60],"help":[61],"to":[62,171],"resolve":[63],"ambiguity":[64],"among":[65],"visually":[66],"similar":[67],"object":[68],"instances.":[69],"Existing":[70],"benchmarks":[72],"are":[73],"primarily":[74],"focused":[75],"on":[76],"success":[78],"offer":[80],"no":[81],"support":[82],"consistent":[84],"evaluation":[85],"interaction.":[88],"To":[89],"address":[90],"this":[91],"limitation,":[92],"QAsk-Nav":[93,141],"provides":[94],"(i)":[95],"lightweight":[97,147],"question-asking":[98,126],"protocol":[99,108],"scored":[100],"independently":[101],"navigation,":[103],"(ii)":[104],"enhanced":[106],"realistic,":[110],"diverse,":[111],"high-quality":[112],"descriptions,":[114],"(iii)":[116],"open-source":[118],"dataset,":[119],"includes":[121],"28,000":[122],"quality-checked":[123],"reasoning":[124],"traces":[127],"training":[129],"analysis":[131],"capabilities":[134],"models.":[137],"Using":[138],"proposed":[140],"benchmark,":[142],"we":[143],"develop":[144],"Light-CoNav,":[145],"unified":[148],"model":[149],"is":[154],"3x":[155],"smaller":[156],"70x":[158],"faster":[159],"than":[160],"existing":[161],"modular":[162],"methods,":[163],"while":[164],"outperforming":[165],"state-of-the-art":[166],"approaches":[168],"generalization":[170],"unseen":[172],"objects":[173],"environments.":[175],"Project":[176],"page":[177],"at":[178],"https://benchmarking-interaction.github.io/":[179]},"counts_by_year":[],"updated_date":"2026-05-04T08:30:34.212998","created_date":"2026-04-03T00:00:00"}
