{"id":"https://openalex.org/W7160267946","doi":"https://doi.org/10.48550/arxiv.2605.01700","title":"TrajRAG: Retrieving Geometric-Semantic Experience for Zero-Shot Object Navigation","display_name":"TrajRAG: Retrieving Geometric-Semantic Experience for Zero-Shot Object Navigation","publication_year":2026,"publication_date":"2026-05-03","ids":{"openalex":"https://openalex.org/W7160267946","doi":"https://doi.org/10.48550/arxiv.2605.01700"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.01700","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.01700","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,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.01700","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5122690822","display_name":"Yiyao Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Yiyao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017213372","display_name":"Sixian Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Sixian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135384282","display_name":"Keming Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Keming","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135391260","display_name":"Xinhang Song","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Song, Xinhang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035355287","display_name":"Songjie Du","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Du, Songjie","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5135414772","display_name":"Shuqiang Jiang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jiang, Shuqiang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"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":0.9092000126838684,"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":0.9092000126838684,"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/T11596","display_name":"Constraint Satisfaction and Optimization","score":0.013500000350177288,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T11904","display_name":"Spatial Cognition and Navigation","score":0.010099999606609344,"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/object","display_name":"Object (grammar)","score":0.6047999858856201},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5978999733924866},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.5289999842643738},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4625000059604645},{"id":"https://openalex.org/keywords/semantics","display_name":"Semantics (computer science)","score":0.42340001463890076},{"id":"https://openalex.org/keywords/episodic-memory","display_name":"Episodic memory","score":0.41749998927116394},{"id":"https://openalex.org/keywords/chunking","display_name":"Chunking (psychology)","score":0.41609999537467957},{"id":"https://openalex.org/keywords/spatial-intelligence","display_name":"Spatial intelligence","score":0.415800005197525},{"id":"https://openalex.org/keywords/knowledge-representation-and-reasoning","display_name":"Knowledge representation and reasoning","score":0.36559998989105225}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.741100013256073},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6047999858856201},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5978999733924866},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5921000242233276},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.5289999842643738},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4625000059604645},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.42340001463890076},{"id":"https://openalex.org/C88576662","wikidata":"https://www.wikidata.org/wiki/Q18646","display_name":"Episodic memory","level":3,"score":0.41749998927116394},{"id":"https://openalex.org/C203357204","wikidata":"https://www.wikidata.org/wiki/Q1089605","display_name":"Chunking (psychology)","level":2,"score":0.41609999537467957},{"id":"https://openalex.org/C155911833","wikidata":"https://www.wikidata.org/wiki/Q3817354","display_name":"Spatial intelligence","level":2,"score":0.415800005197525},{"id":"https://openalex.org/C161301231","wikidata":"https://www.wikidata.org/wiki/Q3478658","display_name":"Knowledge representation and reasoning","level":2,"score":0.36559998989105225},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3452000021934509},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.34439998865127563},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.3424000144004822},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3287000060081482},{"id":"https://openalex.org/C2779458634","wikidata":"https://www.wikidata.org/wiki/Q24963715","display_name":"Debiasing","level":2,"score":0.32260000705718994},{"id":"https://openalex.org/C192028432","wikidata":"https://www.wikidata.org/wiki/Q845739","display_name":"Query language","level":2,"score":0.3109000027179718},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.3050999939441681},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.30070000886917114},{"id":"https://openalex.org/C204321447","wikidata":"https://www.wikidata.org/wiki/Q30642","display_name":"Natural language processing","level":1,"score":0.29580000042915344},{"id":"https://openalex.org/C193221554","wikidata":"https://www.wikidata.org/wiki/Q5153664","display_name":"Commonsense reasoning","level":2,"score":0.28949999809265137},{"id":"https://openalex.org/C64754055","wikidata":"https://www.wikidata.org/wiki/Q7574053","display_name":"Spatial contextual awareness","level":2,"score":0.27570000290870667},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.26989999413490295},{"id":"https://openalex.org/C99016210","wikidata":"https://www.wikidata.org/wiki/Q5488129","display_name":"Query expansion","level":2,"score":0.2680000066757202},{"id":"https://openalex.org/C2781271823","wikidata":"https://www.wikidata.org/wiki/Q138081","display_name":"Waypoint","level":2,"score":0.2662000060081482},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2653999924659729},{"id":"https://openalex.org/C157657479","wikidata":"https://www.wikidata.org/wiki/Q2367247","display_name":"Closed captioning","level":3,"score":0.2567000091075897},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.25279998779296875},{"id":"https://openalex.org/C137293760","wikidata":"https://www.wikidata.org/wiki/Q3621696","display_name":"Language model","level":2,"score":0.25130000710487366},{"id":"https://openalex.org/C27511587","wikidata":"https://www.wikidata.org/wiki/Q2178623","display_name":"Spatial relation","level":2,"score":0.25110000371932983}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.01700","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.01700","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,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.01700","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.01700","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,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/4","score":0.4635956287384033,"display_name":"Quality Education"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Existing":[0],"zero-shot":[1,168],"Object":[2],"Goal":[3],"Navigation":[4],"(ObjectNav)":[5],"methods":[6],"often":[7],"exploit":[8],"commonsense":[9],"knowledge":[10,22],"from":[11,24,72],"large":[12],"language":[13],"or":[14],"vision-language":[15],"models":[16],"to":[17],"guide":[18],"navigation.":[19],"However,":[20],"such":[21],"arises":[23],"internet-scale":[25],"text":[26],"rather":[27],"than":[28],"embodied":[29],"3D":[30],"experience,":[31],"and":[32,92,156,166],"episodic":[33,70,100],"observations":[34,71],"collected":[35],"during":[36],"navigation":[37,74,150],"are":[38,140],"typically":[39],"discarded,":[40],"preventing":[41],"the":[42,146],"accumulation":[43,147],"of":[44,148],"lifelong":[45,149],"experience.":[46,151],"To":[47,76],"this":[48],"end,":[49],"we":[50,80],"propose":[51,81],"Trajectory":[52],"RAG":[53],"(TrajRAG),":[54],"a":[55,82],"retrieval-augmented":[56],"generation":[57],"framework":[58],"that":[59,87,125,159],"enhances":[60],"large-model":[61,133],"reasoning":[62,134],"by":[63],"retrieving":[64],"geometric-semantic":[65,164],"experiences.":[66],"TrajRAG":[67,127,160],"incrementally":[68],"accumulates":[69],"past":[73,130],"episodes.":[75],"structure":[77,105],"these":[78],"observations,":[79],"topological-polar":[83],"(topo-polar)":[84],"trajectory":[85,123],"representation":[86],"compactly":[88],"encodes":[89],"spatial":[90],"layouts":[91],"semantic":[93],"contexts,":[94],"effectively":[95,161],"removing":[96],"redundancies":[97],"in":[98],"raw":[99],"observations.":[101],"A":[102],"hierarchical":[103],"chunking":[104],"further":[106],"organizes":[107],"similar":[108,129],"topo-polar":[109],"trajectories":[110],"into":[111,143],"unified":[112],"summaries,":[113],"enabling":[114,145],"coarse-to-fine":[115],"retrieval.":[116],"During":[117],"navigation,":[118],"candidate":[119],"frontiers":[120],"generate":[121],"multiple":[122],"hypotheses":[124],"query":[126],"for":[128,135],"trajectories,":[131],"guiding":[132],"waypoint":[136],"selection.":[137],"New":[138],"experiences":[139,165],"continually":[141],"consolidated":[142],"TrajRAG,":[144],"Experiments":[152],"on":[153],"MP3D,":[154],"HM3D-v1,":[155],"HM3D-v2":[157],"show":[158],"retrieves":[162],"relevant":[163],"improves":[167],"ObjectNav":[169],"performance.":[170]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-05-06T00:00:00"}