AERR-Nav: Adaptive Exploration-Recovery-Reminiscing Strategy for Zero-Shot Object Navigation

arXiv:2603.17712 · cs.RO, cs.CV, cs.LG · Submitted 2026-03-18 · Read on arXiv

cs.RO, cs.CV, cs.LG

Submitted: 2026-03-18

Updated: 2026-03-18

Code: https://github.com/kim-os/AERR-Nav

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Zero-Shot Object Navigation — 3× in this paper
• Ablation — 1× in this paper · explained in 1 episode
• Ablation Studies — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Thinking mode — 1× in this paper · explained in 2 episodes

Sources

• ObjectNav Revisited: On Evaluation of Embodied Agents Navigating to Objects
• CL-CoTNav: Closed-Loop Hierarchical Chain-of-Thought for Zero-Shot Object-Goal Navigation with Vision-Language Models
• Matterport3D: Learning from RGB-D Data in Indoor Environments
• SemNav: A Model-Based Planner for Zero-Shot Object Goal Navigation Using Vision-Foundation Models
• LOC-ZSON: Language-driven Object-Centric Zero-Shot Object Retrieval and Navigation
• Handle Object Navigation as Weighted Traveling Repairman Problem
• InstructNav: Zero-shot System for Generic Instruction Navigation in Unexplored Environment
• SSR-ZSON: Zero-Shot Object Navigation via Spatial-Semantic Relations within a Hierarchical Exploration Framework
• Habitat-Matterport 3D Dataset (HM3D): 1000 Large-scale 3D Environments for Embodied AI
• What Matters in RL-Based Methods for Object-Goal Navigation? An Empirical Study and A Unified Framework
• VLN-Game: Vision-Language Equilibrium Search for Zero-Shot Semantic Navigation
• SpatialNav: Leveraging Spatial Scene Graphs for Zero-Shot Vision-and-Language Navigation
• ImagineNav: Prompting Vision-Language Models as Embodied Navigator through Scene Imagination
• 3DGSNav: Enhancing Vision-Language Model Reasoning for Object Navigation via Active 3D Gaussian Splatting
• BeliefMapNav: 3D Voxel-Based Belief Map for Zero-Shot Object Navigation

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