mlsanityData to 13 Oct 2026

Topological Semantic Graph Memory for Image-Goal Navigation

arXiv 2209.08274 ↗First posted 17 Sep 2022cs.ROcited by 43

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Abstract (arXiv)

A novel framework is proposed to incrementally collect landmark-based graph memory and use the collected memory for image goal navigation. Given a target image to search, an embodied robot utilizes semantic memory to find the target in an unknown environment. % The semantic graph memory is collected from a panoramic observation of an RGB-D camera without knowing the robot's pose. In this paper, we present a topological semantic graph memory (TSGM), which consists of (1) a graph builder that takes the observed RGB-D image to construct a topological semantic graph, (2) a cross graph mixer module that takes the collected nodes to get contextual information, and (3) a memory decoder that takes the contextual memory as an input to find an action to the target. On the task of image goal navigation, TSGM significantly outperforms competitive baselines by +5.0-9.0% on the success rate and +7.0-23.5% on SPL, which means that the TSGM finds efficient paths. Additionally, we demonstrate our method on a mobile robot in real-world image goal scenarios.

Key facts. Cited by 43 papers in the map (data through 13 Oct 2026). First posted on arXiv 17 Sep 2022.

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Cited by year (2026 to 13 Oct)

Citing papers per year: 2023: 4; 2024: 20; 2025: 13; 2026: 6.

43 papers.

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  1. 20243D-Mem: 3D Scene Memory for Embodied Exploration and Reasoningcited by 74
  2. 2023SACSoN: Scalable Autonomous Control for Social Navigationcited by 60
  3. 2024GaussNav: Gaussian Splatting for Visual Navigationcited by 49
  4. 2024Learning Generalizable Feature Fields for Mobile Manipulationcited by 31
  5. 2024Prioritized Semantic Learning for Zero-shot Instance Navigationcited by 30
  6. 2024RoboHop: Segment-based Topological Map Representation for Open-World Visual Navigationcited by 25
  7. 2024General Place Recognition Survey: Towards Real-World Autonomycited by 23
  8. 2023FGPrompt: Fine-grained Goal Prompting for Image-goal Navigationcited by 21
  9. 2024Instance-aware Exploration-Verification-Exploitation for Instance ImageGoal Navigationcited by 15
  10. 2024MemoNav: Working Memory Model for Visual Navigationcited by 13
  11. 2025REGNav: Room Expert Guided Image-Goal Navigationcited by 12
  12. 2025IGL-Nav: Incremental 3D Gaussian Localization for Image-goal Navigationcited by 10
31 more
  1. 2023Exploitation-Guided Exploration for Semantic Embodied Navigationcited by 9
  2. 2024Multiview Scene Graphcited by 9
  3. 2023One-4-All: Neural Potential Fields for Embodied Navigationcited by 7
  4. 2025LoopNav: Benchmarking Spatial Consistency in World Modelscited by 7
  5. 2025TANGO: Traversability-Aware Navigation with Local Metric Control for Topological Goalscited by 7
  6. 2024Towards Physically Realizable Adversarial Attacks in Embodied Vision Navigationcited by 6
  7. 2024TopoNav: Topological Navigation for Efficient Exploration in Sparse Reward Environmentscited by 5
  8. 2025ObjectReact: Learning Object-Relative Control for Visual Navigationcited by 5
  9. 2024Feudal Networks for Visual Navigationcited by 4
  10. 2024LiteVLoc: Map-Lite Visual Localization for Image Goal Navigationcited by 4
  11. 2026OxyGen: Unified KV Cache Management for VLA Inference under Multi-Task Parallelismcited by 4
  12. 2024Personalized Embodied Navigation for Portable Object Findingcited by 3
  13. 2024NOLO: Navigate Only Look Oncecited by 3
  14. 2025Image-Goal Navigation Using Refined Feature Guidance and Scene Graph Enhancementcited by 3
  15. 2025Dream to Recall: Imagination-Guided Experience Retrieval for Memory-Persistent Vision-and-Language Navigationcited by 3
  16. 2026Explore Like Humans: Autonomous Exploration with Online SG-Memo Construction for Embodied Agentscited by 3
  17. 2024A Landmark-Aware Visual Navigation Datasetcited by 2
  18. 2024PRISM-TopoMap: Online Topological Mapping with Place Recognition and Scan Matchingcited by 2
  19. 2025RANa: Retrieval-Augmented Navigationcited by 2
  20. 2025LagMemo: Language 3D Gaussian Splatting Memory for Multi-modal Open-vocabulary Multi-goal Visual Navigationcited by 2
  21. 2026LangMap: A Human-Verified Benchmark for Hierarchical Open-Vocabulary Goal Navigationcited by 2
  22. 2024Transformers for Image-Goal Navigationcited by 1
  23. 2025RSRNav: Reasoning Spatial Relationship for Image-Goal Navigationcited by 1
  24. 2024Semantic Environment Atlas for Object-Goal Navigationcited by 0
  25. 2024NavTopo: Leveraging Topological Maps For Autonomous Navigation Of a Mobile Robotcited by 0
  26. 2025PIG-Nav: Key Insights for Pretrained Image Goal Navigation Modelscited by 0
  27. 2025SkeNa: Learning to Navigate Unseen Environments Based on Abstract Hand-Drawn Mapscited by 0
  28. 2025YOPO-Nav: Visual Navigation using 3DGS Graphs from One-Pass Videoscited by 0
  29. 2026FeudalNav: A Simple Framework for Visual Navigationcited by 0
  30. 2026Scene Representation using 360deg Saliency Graph and its Application in Vision-based Indoor Navigationcited by 0
  31. 2026SSTG-Nav: Metric-Grounded Spatial-Semantic Topological Graphs for Reusable Object Navigationcited by 0