mlsanityData to 7 Oct 2026

VoroNav: Voronoi-based Zero-shot Object Navigation with Large Language Model

arXiv 2401.02695 ↗First posted 5 Jan 2024cs.RO cs.CVcited by 55

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Abstract (arXiv)

In the realm of household robotics, the Zero-Shot Object Navigation (ZSON) task empowers agents to adeptly traverse unfamiliar environments and locate objects from novel categories without prior explicit training. This paper introduces VoroNav, a novel semantic exploration framework that proposes the Reduced Voronoi Graph to extract exploratory paths and planning nodes from a semantic map constructed in real time. By harnessing topological and semantic information, VoroNav designs text-based descriptions of paths and images that are readily interpretable by a large language model (LLM). In particular, our approach presents a synergy of path and farsight descriptions to represent the environmental context, enabling LLM to apply commonsense reasoning to ascertain waypoints for navigation. Extensive evaluation on HM3D and HSSD validates VoroNav surpasses existing benchmarks in both success rate and exploration efficiency (absolute improvement: +2.8% Success and +3.7% SPL on HM3D, +2.6% Success and +3.8% SPL on HSSD). Additionally introduced metrics that evaluate obstacle avoidance proficiency and perceptual efficiency further corroborate the enhancements achieved by our method in ZSON planning. Project page: https://voro-nav.github.io

Key facts. Cited by 55 papers in the map (data through 7 Oct 2026). Builds on 29 of its 40 references that are in the map. First posted on arXiv 5 Jan 2024.

Builds on

29 of 40 references.

References · 29

  1. 2020Language Models are Few-Shot Learnerscited by 32,199
  2. 2023Segment Anythingcited by 8,158
  3. 2022BLIP: Bootstrapping Language-Image Pre-training for Unified Vision-Language Understanding and Generationcited by 4,310
  4. 2023Grounding DINO: Marrying DINO with Grounded Pre-Training for Open-Set Object Detectioncited by 3,274
  5. 2023A Comprehensive Overview of Large Language Modelscited by 639
  6. 2021Habitat-Matterport 3D Dataset (HM3D): 1000 Large-scale 3D Environments for Embodied AIcited by 579
  7. 2018On Evaluation of Embodied Navigation Agentscited by 526
  8. 2020Beyond the Nav-Graph: Vision-and-Language Navigation in Continuous Environmentscited by 429
  9. 2020Object Goal Navigation using Goal-Oriented Semantic Explorationcited by 421
  10. 2022CoWs on Pasture: Baselines and Benchmarks for Language-Driven Zero-Shot Object Navigationcited by 194
  11. 2021Simple but Effective: CLIP Embeddings for Embodied AIcited by 191
  12. 2022ZSON: Zero-Shot Object-Goal Navigation using Multimodal Goal Embeddingscited by 177
17 more
  1. 2023ETPNav: Evolving Topological Planning for Vision-Language Navigation in Continuous Environmentscited by 165
  2. 2023Habitat Synthetic Scenes Dataset (HSSD-200): An Analysis of 3D Scene Scale and Realism Tradeoffs for ObjectGoal Navigationcited by 162
  3. 2022PONI: Potential Functions for ObjectGoal Navigation with Interaction-free Learningcited by 149
  4. 2023ESC: Exploration with Soft Commonsense Constraints for Zero-shot Object Navigationcited by 126
  5. 2021Waypoint Models for Instruction-guided Navigation in Continuous Environmentscited by 125
  6. 2023L3MVN: Leveraging Large Language Models for Visual Target Navigationcited by 118
  7. 2022Navigating to Objects in the Real Worldcited by 104
  8. 2023Navigation with Large Language Models: Semantic Guesswork as a Heuristic for Planningcited by 88
  9. 2018Robot Learning in Homes: Improving Generalization and Reducing Dataset Biascited by 75
  10. 2023Bridging Zero-shot Object Navigation and Foundation Models through Pixel-Guided Navigation Skillcited by 75
  11. 2022Zero Experience Required: Plug & Play Modular Transfer Learning for Semantic Visual Navigationcited by 66
  12. 2023How To Not Train Your Dragon: Training-free Embodied Object Goal Navigation with Semantic Frontierscited by 53
  13. 2023Renderable Neural Radiance Map for Visual Navigationcited by 51
  14. 2022Zero-shot object goal visual navigationcited by 29
  15. 2022Zero-shot Active Visual Search (ZAVIS): Intelligent Object Search for Robotic Assistantscited by 7
  16. 2023Zero-Shot Object Searching Using Large-scale Object Relationship Priorcited by 5
  17. 2023ReVoLT: Relational Reasoning and Voronoi Local Graph Planning for Target-driven Navigationcited by 3

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 13; 2025: 25; 2026: 17.

55 papers.

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  1. 2024Hierarchical Open-Vocabulary 3D Scene Graphs for Language-Grounded Robot Navigationcited by 195
  2. 2024InstructNav: Zero-shot System for Generic Instruction Navigation in Unexplored Environmentcited by 150
  3. 2025StreamVLN: Streaming Vision-and-Language Navigation via SlowFast Context Modelingcited by 107
  4. 2025UniGoal: Towards Universal Zero-shot Goal-oriented Navigationcited by 56
  5. 2025WMNav: Integrating Vision-Language Models into World Models for Object Goal Navigationcited by 42
  6. 2024CogNav: Cognitive Process Modeling for Object Goal Navigation with LLMscited by 32
  7. 2025Mem2Ego: Empowering Vision-Language Models with Global-to-Ego Memory for Long-Horizon Embodied Navigationcited by 30
  8. 2024EMOS: Embodiment-aware Heterogeneous Multi-robot Operating System with LLM Agentscited by 24
  9. 2025Building a Mind Palace: Structuring Environment-Grounded Semantic Graphs for Effective Long Video Analysis with LLMscited by 19
  10. 2025Grounded Vision-Language Navigation for UAVs with Open-Vocabulary Goal Understandingcited by 17
  11. 2024TopV-Nav: Unlocking the Top-View Spatial Reasoning Potential of MLLM for Zero-shot Object Navigationcited by 15
  12. 2024DAG-Plan: Generating Directed Acyclic Dependency Graphs for Dual-Arm Cooperative Planningcited by 14
38 more
  1. 2024Enhancing Multi-Robot Semantic Navigation Through Multimodal Chain-of-Thought Score Collaborationcited by 14
  2. 2025NavigateDiff: Visual Predictors are Zero-Shot Navigation Assistantscited by 11
  3. 2025GC-VLN: Instruction as Graph Constraints for Training-free Vision-and-Language Navigationcited by 10
  4. 2025Nav-R2 Dual-Relation Reasoning for Generalizable Open-Vocabulary Object-Goal Navigationcited by 8
  5. 2024CAMON: Cooperative Agents for Multi-Object Navigation with LLM-based Conversationscited by 7
  6. 2025DORAEMON: Decentralized Ontology-aware Reliable Agent with Enhanced Memory Oriented Navigationcited by 6
  7. 2025VISTAv2: World Imagination for Indoor Vision-and-Language Navigationcited by 6
  8. 2024TDANet: Target-Directed Attention Network For Object-Goal Visual Navigation With Zero-Shot Abilitycited by 5
  9. 2025STRIVE: Structured Representation Integrating VLM Reasoning for Efficient Object Navigationcited by 5
  10. 2025EfficientNav: Towards On-Device Object-Goal Navigation with Navigation Map Caching and Retrievalcited by 5
  11. 2026APEX: A Decoupled Memory-based Explorer for Asynchronous Aerial Object Goal Navigationcited by 5
  12. 2026LongNav-R1: Horizon-Adaptive Multi-Turn RL for Long-Horizon VLA Navigationcited by 5
  13. 2024DOZE: A Dataset for Open-Vocabulary Zero-Shot Object Navigation in Dynamic Environmentscited by 4
  14. 2024Find Everything: A General Vision Language Model Approach to Multi-Object Searchcited by 4
  15. 2025OmniEVA: Embodied Versatile Planner via Task-Adaptive 3D-Grounded and Embodiment-aware Reasoningcited by 4
  16. 2025Human-like Navigation in a World Built for Humanscited by 4
  17. 2026FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigationcited by 4
  18. 2026ESARBench: A Benchmark for Agentic UAV Embodied Search and Rescuecited by 4
  19. 2025Distilling LLM Prior to Flow Model for Generalizable Agent's Imagination in Object Goal Navigationcited by 3
  20. 2024Navigation with VLM framework: Towards Going to Any Languagecited by 2
  21. 2025SemNav: A Model-Based Planner for Zero-Shot Object Goal Navigation Using Vision-Foundation Modelscited by 2
  22. 2025LagMemo: Language 3D Gaussian Splatting Memory for Multi-modal Open-vocabulary Multi-goal Visual Navigationcited by 2
  23. 2025General-Purpose Robotic Navigation via LVLM-Orchestrated Perception, Reasoning, and Actingcited by 1
  24. 2025ImagineNav++: Prompting Vision-Language Models as Embodied Navigator through Scene Imaginationcited by 1
  25. 2025Schr"odinger's Navigator: Imagining an Ensemble of Futures for Zero-Shot Object Navigationcited by 1
  26. 2026MerNav: A Highly Generalizable Memory-Execute-Review Framework for Zero-Shot Object Goal Navigationcited by 1
  27. 2026TrajRAG: Retrieving Geometric-Semantic Experience for Zero-Shot Object Navigationcited by 1
  28. 2026EvoMemNav: Efficient Self-Evolving Fine-Grained Memory for Zero-Shot Embodied Navigationcited by 1
  29. 2026MVP-Nav: Multi-layer Value Map Planner Navigatorcited by 1
  30. 2024Improving Zero-Shot ObjectNav with Generative Communicationcited by 0
  31. 2025Collision-Aware Object-Goal Visual Navigation via Two-Stage Deep Reinforcement Learningcited by 0
  32. 2025When Engineering Outruns Intelligence: Rethinking Instruction-Guided Navigationcited by 0
  33. 2025Curriculum-Based Multi-Tier Semantic Exploration via Deep Reinforcement Learningcited by 0
  34. 2025RANGER: A Monocular Zero-Shot Semantic Navigation Framework through Visual Contextual Adaptationcited by 0
  35. 2026Relational Semantic Reasoning on 3D Scene Graphs for Open World Interactive Object Searchcited by 0
  36. 2026SR-Nav: Spatial Relationships Matter for Zero-shot Object Goal Navigationcited by 0
  37. 2026REST: Receding Horizon Explorative Steiner Tree for Zero-Shot Object-Goal Navigationcited by 0
  38. 2026Multi-Scale Gaussian-Language Map for Zero-shot Embodied Navigation and Reasoningcited by 0

50 most cited of 55 All 55 (JSON)

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  1. 2024OpenFMNav: Towards Open-Set Zero-Shot Object Navigation via Vision-Language Foundation Models
  2. 2024VLN-Game: Vision-Language Equilibrium Search for Zero-Shot Semantic Navigation
  3. 2025Boosting Zero-Shot VLN via Abstract Obstacle Map-Based Waypoint Prediction with TopoGraph-and-VisitInfo-Aware Prompting
  4. 2024Reliable Semantic Understanding for Real World Zero-shot Object Goal Navigation
  5. 2023VLFM: Vision-Language Frontier Maps for Zero-Shot Semantic Navigation
  6. 2025PanoNav: Mapless Zero-Shot Object Navigation with Panoramic Scene Parsing and Dynamic Memory
  7. 2023Can an Embodied Agent Find Your "Cat-shaped Mug"? LLM-Guided Exploration for Zero-Shot Object Navigation
  8. 2023A2Nav: Action-Aware Zero-Shot Robot Navigation by Exploiting Vision-and-Language Ability of Foundation Models