{"id":"https://openalex.org/W7165848589","doi":"https://doi.org/10.48550/arxiv.2606.25206","title":"RAVEN: Long-Horizon Reasoning &amp; Navigation with a Visuo-Spatio-Temporal Memory","display_name":"RAVEN: Long-Horizon Reasoning &amp; Navigation with a Visuo-Spatio-Temporal Memory","publication_year":2026,"publication_date":"2026-06-23","ids":{"openalex":"https://openalex.org/W7165848589","doi":"https://doi.org/10.48550/arxiv.2606.25206"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.25206","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.25206","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":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.25206","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5139329433","display_name":"Yixun Hu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hu, Yixun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139335520","display_name":"Zhicheng Zheng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zheng, Zhicheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039381213","display_name":"Lihan Zha","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zha, Lihan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084868306","display_name":"Chunwei Xing","orcid":"https://orcid.org/0000-0003-4920-3450"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xing, Chunwei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139317083","display_name":"Rajdeep Singh","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Singh, Rajdeep","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019640494","display_name":"Omar Hossain","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hossain, Omar","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075873122","display_name":"Antonio Loquercio","orcid":"https://orcid.org/0000-0002-8410-3933"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Loquercio, Antonio","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5139374477","display_name":"Dhruv Shah","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shah, Dhruv","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":0.9965000152587891,"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":0.9965000152587891,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.0003000000142492354,"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":0.00019999999494757503,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5985999703407288},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5526000261306763},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5293999910354614},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.44269999861717224},{"id":"https://openalex.org/keywords/spatial-intelligence","display_name":"Spatial intelligence","score":0.4172999858856201},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.412200003862381},{"id":"https://openalex.org/keywords/visual-memory","display_name":"Visual memory","score":0.36390000581741333},{"id":"https://openalex.org/keywords/spatial-analysis","display_name":"Spatial analysis","score":0.36340001225471497},{"id":"https://openalex.org/keywords/question-answering","display_name":"Question answering","score":0.3440999984741211}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7897999882698059},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5985999703407288},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5694000124931335},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5526000261306763},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5293999910354614},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.44269999861717224},{"id":"https://openalex.org/C155911833","wikidata":"https://www.wikidata.org/wiki/Q3817354","display_name":"Spatial intelligence","level":2,"score":0.4172999858856201},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.412200003862381},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3889999985694885},{"id":"https://openalex.org/C178278151","wikidata":"https://www.wikidata.org/wiki/Q7936607","display_name":"Visual memory","level":3,"score":0.36390000581741333},{"id":"https://openalex.org/C159620131","wikidata":"https://www.wikidata.org/wiki/Q1938983","display_name":"Spatial analysis","level":2,"score":0.36340001225471497},{"id":"https://openalex.org/C44291984","wikidata":"https://www.wikidata.org/wiki/Q1074173","display_name":"Question answering","level":2,"score":0.3440999984741211},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.3402999937534332},{"id":"https://openalex.org/C195324797","wikidata":"https://www.wikidata.org/wiki/Q33742","display_name":"Natural language","level":2,"score":0.3384000062942505},{"id":"https://openalex.org/C207363949","wikidata":"https://www.wikidata.org/wiki/Q462915","display_name":"Visual space","level":3,"score":0.3264000117778778},{"id":"https://openalex.org/C157657479","wikidata":"https://www.wikidata.org/wiki/Q2367247","display_name":"Closed captioning","level":3,"score":0.31349998712539673},{"id":"https://openalex.org/C82687282","wikidata":"https://www.wikidata.org/wiki/Q66221","display_name":"Auxiliary memory","level":2,"score":0.31060001254081726},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.28200000524520874},{"id":"https://openalex.org/C165021410","wikidata":"https://www.wikidata.org/wiki/Q55564","display_name":"Lossy compression","level":2,"score":0.2800999879837036},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.2782999873161316},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.2777000069618225},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2766000032424927},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.26409998536109924},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.2632000148296356},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.2621000111103058},{"id":"https://openalex.org/C74426580","wikidata":"https://www.wikidata.org/wiki/Q719484","display_name":"Memory map","level":3,"score":0.25060001015663147}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.25206","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.25206","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":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.25206","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.25206","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":"Preprint"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/4","display_name":"Quality Education","score":0.4651550352573395}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Long-term":[0],"robot":[1,124],"deployment":[2,138],"requires":[3],"a":[4,52,59,121],"compact":[5],"and":[6,18,20,24,41,49,55,65,80,85,93,104,135],"scalable":[7],"memory":[8,34,102],"that":[9],"preserves":[10],"fine-grained":[11],"visual":[12,45,73],"semantics,":[13],"grounds":[14,56],"observations":[15],"in":[16,51,58],"space":[17],"time,":[19],"enables":[21,81],"efficient":[22],"storage":[23],"retrieval.":[25],"In":[26],"this":[27],"paper,":[28],"we":[29,117],"propose":[30],"RAVEN,":[31],"an":[32],"agentic":[33],"system":[35],"for":[36,125,131],"long-horizon":[37,109,129],"robotic":[38],"question":[39],"answering":[40],"navigation.":[42],"RAVEN":[43,75,98,119],"stores":[44],"embeddings":[46],"with":[47],"pose":[48],"time":[50],"vector":[53],"database,":[54],"retrieval":[57,87,114],"spatial":[60],"map":[61],"to":[62,67],"answer":[63],"queries":[64],"navigate":[66],"goals.":[68],"By":[69],"operating":[70],"directly":[71],"on":[72,108,120],"embeddings,":[74],"avoids":[76],"lossy":[77],"image-to-text":[78],"captioning":[79],"accurate":[82],"semantic,":[83],"spatial,":[84],"temporal":[86],"at":[88,111],"scale.":[89],"Across":[90],"several":[91,140],"simulated":[92],"real-world":[94],"video":[95],"question-answering":[96],"benchmarks,":[97],"consistently":[99],"surpasses":[100],"caption-based":[101],"systems":[103],"matches":[105],"frontier":[106],"VLMs":[107],"tasks":[110],"10$\\times$":[112],"lower":[113],"cost.":[115],"Finally,":[116],"instantiate":[118],"Unitree":[122],"Go1":[123],"the":[126],"task":[127],"of":[128],"navigation":[130],"natural":[132],"language":[133],"goal-reaching,":[134],"show":[136],"successful":[137],"over":[139],"large":[141],"indoor":[142],"environments.":[143]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-26T00:00:00"}
