Preprint
Aug 2026
SAP-Nav: Spatial Semantic Representation Meets Active Perception for Hierarchical Open-Vocabulary Object Navigation
SAP-Nav is presented, a fully online, zero-shot framework that supports both hierarchical and standard category-level OVON without task-specific training or precomputed scene maps and is designed for hierarchical OVON without task-specific training or precomputed scene maps.
Xuetong Pei, Jian Liu, Vidura Munasinghe et al.
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