Multimodal Perception for Goal-oriented Navigation: A Survey

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Ieong, I-Tak, Tang, Hao
Format:	Preprint
Published:	2025
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Uncertainty-Informed Active Perception for Open Vocabulary Object Goal Navigation
by: Bajpai, Utkarsh, et al.
Published: (2025)

VL-LN Bench: Towards Long-horizon Goal-oriented Navigation with Active Dialogs
by: Huang, Wensi, et al.
Published: (2025)

MCNav: Memory-Aware Dynamic Cognitive Map for Zero-shot Goal-oriented Navigation
by: Li, Jingyu, et al.
Published: (2026)

Multimodal Anomaly Detection based on Deep Auto-Encoder for Object Slip Perception of Mobile Manipulation Robots
by: Yoo, Youngjae, et al.
Published: (2024)

GAMap: Zero-Shot Object Goal Navigation with Multi-Scale Geometric-Affordance Guidance
by: Yuan, Shuaihang, et al.
Published: (2024)

Multimodal Data Storage and Retrieval for Embodied AI: A Survey
by: Lu, Yihao, et al.
Published: (2025)

MORN: Metacognitive Object-Goal Regulation for Resource-Rational Long-Horizon Navigation
by: Lin, Xi, et al.
Published: (2026)

GA-TEB: Goal-Adaptive Framework for Efficient Navigation Based on Goal Lines
by: Zhang, Qianyi, et al.
Published: (2024)

GoalVLM: VLM-driven Object Goal Navigation for Multi-Agent System
by: James, MoniJesu, et al.
Published: (2026)

Goal2Pixel: Grounding Goals to Pixels for Vision-Language Navigation
by: Bao, Muyi, et al.
Published: (2026)

EfficientNav: Towards On-Device Object-Goal Navigation with Navigation Map Caching and Retrieval
by: Yang, Zebin, et al.
Published: (2025)

ON as ALC: Active Loop Closing Object Goal Navigation
by: Iwata, Daiki, et al.
Published: (2024)

RSRNav: Reasoning Spatial Relationship for Image-Goal Navigation
by: Qin, Zheng, et al.
Published: (2025)

Exploring the Reliability of Foundation Model-Based Frontier Selection in Zero-Shot Object Goal Navigation
by: Yuan, Shuaihang, et al.
Published: (2024)

Goal-oriented Communication for Fast and Robust Robotic Fault Detection and Recovery
by: Chen, Shutong, et al.
Published: (2026)

Open Scene Graphs for Open-World Object-Goal Navigation
by: Loo, Joel, et al.
Published: (2025)

Efficient Image-Goal Navigation with Representative Latent World Model
by: Zhang, Zhiwei, et al.
Published: (2025)

Open Scene Graphs for Open World Object-Goal Navigation
by: Loo, Joel, et al.
Published: (2024)

Self-Predictive Representation for Autonomous UAV Object-Goal Navigation
by: Ayala, Angel, et al.
Published: (2026)

MUSON: A Reasoning-oriented Multimodal Dataset for Socially Compliant Navigation in Urban Environments
by: Liu, Zhuonan, et al.
Published: (2025)

Reliable Semantic Understanding for Real World Zero-shot Object Goal Navigation
by: Unlu, Halil Utku, et al.
Published: (2024)

Semantic Environment Atlas for Object-Goal Navigation
by: Kim, Nuri, et al.
Published: (2024)

RoboAfford++: A Generative AI-Enhanced Dataset for Multimodal Affordance Learning in Robotic Manipulation and Navigation
by: Hao, Xiaoshuai, et al.
Published: (2025)

Multimodal Diffusion Transformer: Learning Versatile Behavior from Multimodal Goals
by: Reuss, Moritz, et al.
Published: (2024)

OVSegDT: Segmenting Transformer for Open-Vocabulary Object Goal Navigation
by: Zemskova, Tatiana, et al.
Published: (2025)

Plug-and-Play Label Map Diffusion for Universal Goal-Oriented Navigation
by: Shen, Zhixuan, et al.
Published: (2026)

RoboMP$^2$: A Robotic Multimodal Perception-Planning Framework with Multimodal Large Language Models
by: Lv, Qi, et al.
Published: (2024)

Neuromorphic Perception and Navigation for Mobile Robots: A Review
by: Novo, A., et al.
Published: (2024)

DINO-CVA: A Multimodal Goal-Conditioned Vision-to-Action Model for Autonomous Catheter Navigation
by: Fekri, Pedram, et al.
Published: (2025)

Think, Remember, Navigate: Zero-Shot Object-Goal Navigation with VLM-Powered Reasoning
by: Habibpour, Mobin, et al.
Published: (2025)

LOG-Nav: Efficient Layout-Aware Object-Goal Navigation with Hierarchical Planning
by: Hou, Jiawei, et al.
Published: (2025)

Advancing Object Goal Navigation Through LLM-enhanced Object Affinities Transfer
by: Lin, Mengying, et al.
Published: (2024)

OVAL: Open-Vocabulary Augmented Memory Model for Lifelong Object Goal Navigation
by: Pei, Jiahua, et al.
Published: (2026)

SEEK: Semantic Reasoning for Object Goal Navigation in Real World Inspection Tasks
by: Ginting, Muhammad Fadhil, et al.
Published: (2024)

GoalSwarm: Multi-UAV Semantic Coordination for Open-Vocabulary Object Navigation
by: James, MoniJesu Wonders, et al.
Published: (2026)

Reinforcement Learning for Active Perception in Autonomous Navigation
by: Malczyk, Grzegorz, et al.
Published: (2026)

HyPerNav: Hybrid Perception for Object-Oriented Navigation in Unknown Environment
by: Yin, Zecheng, et al.
Published: (2025)

Safety-aware Goal-oriented Semantic Sensing, Communication, and Control for Robotics
by: Wu, Wenchao, et al.
Published: (2026)

SDP: Spiking Diffusion Policy for Robotic Manipulation with Learnable Channel-Wise Membrane Thresholds
by: Hou, Zhixing, et al.
Published: (2024)

if (filemtime($filename) + $maxlifetime < time()) { unlink($filename); $count++; } } return $count; } /** * A function that is called internally when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ protected function saveSession($sessId, $data): bool { $sessFile = $this->path . '/sess_' . $sessId; if ($handle = fopen($sessFile, 'w')) { $return = false; // Lock the file for exclusive access to avoid issues with multiple // processes writing session simultaneously: if (flock($handle, LOCK_EX)) { $return = fwrite($handle, $data); // Make sure that there's no trailing data by truncating the file to // the correct length: ftruncate($handle, strlen($data)); fflush($handle); flock($handle, LOCK_UN); } fclose($handle); if ($return !== false) { return true; } } // If we got this far, something went wrong with the file output... // It is tempting to throw an exception here, but this code is called // outside of the context of exception handling, so all we can do is // echo a message.

// Anecdotal testing Today and Yesterday seems to indicate destroy() // is called by the garbage collector and everything is good. // Something to keep in mind though. return 0; } /** * Write function that is called when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ public function write($sessId, $data): bool { if ($this->writesDisabled) { return true; } return $this->saveSession($sessId, $data); } /** * A function that is called internally when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ abstract protected function saveSession($sessId, $data): bool; }

* * @return void */ public function writeClose() { // The assumption is that we're using PHP's ext/session. // session_write_close() will actually overwrite $_SESSION with an // empty array on completion -- which leads to a mismatch between what // is in the storage object and $_SESSION. To get around this, we // temporarily reset $_SESSION to an array, and then re-link it to // the storage object. // // Additionally, while you _can_ write to $_SESSION following a // session_write_close() operation, no changes made to it will be // flushed to the session handler. As such, we now mark the storage // object isImmutable. $storage = $this->getStorage(); if (! $storage->isImmutable()) { $_SESSION = $storage->toArray(true); session_write_close(); $storage->fromArray($_SESSION); $storage->markImmutable(); } } /** * Attempt to set the session name * * If the session has already been started, or if the name provided fails * validation, an exception will be raised. * * @param string $name * @return SessionManager * @throws Exception\InvalidArgumentException */ public function setName($name) { if ($this->sessionExists()) { throw new Exception\InvalidArgumentException( 'Cannot set session name after a session has already started'

Environment & details:

GET Data empty

POST Data empty

Files empty

Key	Value
language	"en"
ui	"standard"
VUFIND_SESSION	"f0466576f9f1957005bf4aeff9007e95"

Session

Key	Value
__Laminas	array:2 [`"_REQUEST_ACCESS_TIME" => 1791301201.3646 "_VALID" => array:1 [ "Laminas\Session\Validator\Id" => "f0466576f9f1957005bf4aeff9007e95" ]`]
SessionState	Laminas\Stdlib\ArrayObject {#938}
FlashMessenger	Laminas\Stdlib\ArrayObject {#1433}
SessionHelper	Laminas\Stdlib\ArrayObject {#1759}

Server/Request Data

Key	Value
REDIRECT_VUFIND_LOCAL_DIR	"/usr/local/vufind/local"
REDIRECT_HTTPS	"on"
REDIRECT_SSL_TLS_SNI	"info.umar.mx"
REDIRECT_STATUS	"200"
VUFIND_LOCAL_DIR	"/usr/local/vufind/local"
HTTPS	"on"
SSL_TLS_SNI	"info.umar.mx"
HTTP_ACCEPT	"/"
HTTP_USER_AGENT	"Mozilla/5.0 AppleWebKit/537.36 (KHTML, like Gecko; compatible; ClaudeBot/1.0; +claudebot@anthropic.com)"
HTTP_COOKIE	"language=en; ui=standard; VUFIND_SESSION=f0466576f9f1957005bf4aeff9007e95"
HTTP_ACCEPT_ENCODING	"gzip, br, zstd, deflate"
HTTP_HOST	"info.umar.mx"
PATH	"/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/snap/bin"
SERVER_SIGNATURE	"<address>Apache/2.4.66 (Ubuntu) Server at info.umar.mx Port 443</address>\n"
SERVER_SOFTWARE	"Apache/2.4.66 (Ubuntu)"
SERVER_NAME	"info.umar.mx"
SERVER_ADDR	"200.23.222.19"
SERVER_PORT	"443"
REMOTE_ADDR	"216.73.216.28"
DOCUMENT_ROOT	"/usr/local/vufind/public"
REQUEST_SCHEME	"https"
CONTEXT_PREFIX	""
CONTEXT_DOCUMENT_ROOT	"/usr/local/vufind/public"
SERVER_ADMIN	"admin@localhost"
SCRIPT_FILENAME	"/usr/local/vufind/public/index.php"
REMOTE_PORT	"28078"
REDIRECT_URL	""" /Record/\n arxiv_https___arxiv_org_abs_2504_15643/Similar """
GATEWAY_INTERFACE	"CGI/1.1"
SERVER_PROTOCOL	"HTTP/1.1"
REQUEST_METHOD	"GET"
QUERY_STRING	""
REQUEST_URI	"/Record/%0Aarxiv_https___arxiv_org_abs_2504_15643/Similar"
SCRIPT_NAME	"/index.php"
PHP_SELF	"/index.php"
REQUEST_TIME_FLOAT	1791301201.3595
REQUEST_TIME	1791301201

Environment Variables empty

Registered Handlers

0. Whoops\Handler\PrettyPageHandler

Environment & details:

GET Data empty

POST Data empty

Files empty

Key	Value
language	"en"
ui	"standard"
VUFIND_SESSION	"f0466576f9f1957005bf4aeff9007e95"

Session

Key	Value
__Laminas	array:2 [`"_REQUEST_ACCESS_TIME" => 1791301201.3646 "_VALID" => array:1 [ "Laminas\Session\Validator\Id" => "f0466576f9f1957005bf4aeff9007e95" ]`]
SessionState	Laminas\Stdlib\ArrayObject {#938}
FlashMessenger	Laminas\Stdlib\ArrayObject {#1433}
SessionHelper	Laminas\Stdlib\ArrayObject {#1759}

Server/Request Data

Key	Value
REDIRECT_VUFIND_LOCAL_DIR	"/usr/local/vufind/local"
REDIRECT_HTTPS	"on"
REDIRECT_SSL_TLS_SNI	"info.umar.mx"
REDIRECT_STATUS	"200"
VUFIND_LOCAL_DIR	"/usr/local/vufind/local"
HTTPS	"on"
SSL_TLS_SNI	"info.umar.mx"
HTTP_ACCEPT	"/"
HTTP_USER_AGENT	"Mozilla/5.0 AppleWebKit/537.36 (KHTML, like Gecko; compatible; ClaudeBot/1.0; +claudebot@anthropic.com)"
HTTP_COOKIE	"language=en; ui=standard; VUFIND_SESSION=f0466576f9f1957005bf4aeff9007e95"
HTTP_ACCEPT_ENCODING	"gzip, br, zstd, deflate"
HTTP_HOST	"info.umar.mx"
PATH	"/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/snap/bin"
SERVER_SIGNATURE	"<address>Apache/2.4.66 (Ubuntu) Server at info.umar.mx Port 443</address>\n"
SERVER_SOFTWARE	"Apache/2.4.66 (Ubuntu)"
SERVER_NAME	"info.umar.mx"
SERVER_ADDR	"200.23.222.19"
SERVER_PORT	"443"
REMOTE_ADDR	"216.73.216.28"
DOCUMENT_ROOT	"/usr/local/vufind/public"
REQUEST_SCHEME	"https"
CONTEXT_PREFIX	""
CONTEXT_DOCUMENT_ROOT	"/usr/local/vufind/public"
SERVER_ADMIN	"admin@localhost"
SCRIPT_FILENAME	"/usr/local/vufind/public/index.php"
REMOTE_PORT	"28078"
REDIRECT_URL	""" /Record/\n arxiv_https___arxiv_org_abs_2504_15643/Similar """
GATEWAY_INTERFACE	"CGI/1.1"
SERVER_PROTOCOL	"HTTP/1.1"
REQUEST_METHOD	"GET"
QUERY_STRING	""
REQUEST_URI	"/Record/%0Aarxiv_https___arxiv_org_abs_2504_15643/Similar"
SCRIPT_NAME	"/index.php"
PHP_SELF	"/index.php"
REQUEST_TIME_FLOAT	1791301201.3595
REQUEST_TIME	1791301201

Environment Variables empty

Registered Handlers

0. Whoops\Handler\PrettyPageHandler

Similar Items

Similar Items

Environment & details:

Environment & details: