Probabilistic Scene Graph Navigation

PSG-Nav: Probabilistic Scene Graph Navigation via Multiverse Decision Making

arXiv:2606.01313v1 Announce Type: new Abstract: Open-vocabulary navigation requires embodied agents to manage significant perception uncertainty stemming from semantic ambiguity and model errors. However, most existing works settle for local optimal deterministic approaches, depriving complex navigation decision-making over multiple composite possibilities that are critical for globally better solutions. In this paper, we propose Probabilistic Scene Graph Navigation (PSG-Nav), which...