Author

Adam Scicluna

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Jul 2026

Room-Mediated Co-occurrence for Zero-Shot Object-Centric Semantic Navigation via Frontier Scoring

An analytical, training-free semantic navigation pipeline that mediates object relationships through a compact room lexicon that improves Success Rate (SR) and Success by weighted inverse Path Length (SPL) by a relative 3% and 1.3%, respectively, compared to image-holistic baselines on the HM3D dataset validation split...

Adam Scicluna, Gavin Paul, A. Alempijevic · arXiv.org · 0 citations