# OpenObject-NAV: Open-Vocabulary Object-Oriented Navigation Based on Dynamic Carrier-Relationship Scene Graph

arXiv: https://arxiv.org/abs/2409.18743 · HTML: https://mlsanity.com/paper/2409.18743/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 37 of its 53 references that are in the map.
- First posted on arXiv 27 Sep 2024.

## Builds on (most cited first, 30 of 37)

- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [Sentence-BERT: Sentence Embeddings using Siamese BERT-Networks](https://mlsanity.com/paper/1908.10084/) (2019)
- [A Survey on Evaluation of Large Language Models](https://mlsanity.com/paper/2307.03109/) (2023)
- [Habitat: A Platform for Embodied AI Research](https://mlsanity.com/paper/1904.01201/) (2019)
- [Vision-Language Models for Vision Tasks: A Survey](https://mlsanity.com/paper/2304.00685/) (2023)
- [OpenScene: 3D Scene Understanding with Open Vocabularies](https://mlsanity.com/paper/2211.15654/) (2022)
- [On Evaluation of Embodied Navigation Agents](https://mlsanity.com/paper/1807.06757/) (2018)
- [Gibson Env: Real-World Perception for Embodied Agents](https://mlsanity.com/paper/1808.10654/) (2018)
- [Object Goal Navigation using Goal-Oriented Semantic Exploration](https://mlsanity.com/paper/2007.00643/) (2020)
- [Visual Language Maps for Robot Navigation](https://mlsanity.com/paper/2210.05714/) (2022)
- [ConceptGraphs: Open-Vocabulary 3D Scene Graphs for Perception and Planning](https://mlsanity.com/paper/2309.16650/) (2023)
- [ConceptFusion: Open-set Multimodal 3D Mapping](https://mlsanity.com/paper/2302.07241/) (2023)
- [VLFM: Vision-Language Frontier Maps for Zero-Shot Semantic Navigation](https://mlsanity.com/paper/2312.03275/) (2023)
- [Hierarchical Open-Vocabulary 3D Scene Graphs for Language-Grounded Robot Navigation](https://mlsanity.com/paper/2403.17846/) (2024)
- [Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization](https://mlsanity.com/paper/2201.13360/) (2022)
- [CLIP-Fields: Weakly Supervised Semantic Fields for Robotic Memory](https://mlsanity.com/paper/2210.05663/) (2022)
- [PONI: Potential Functions for ObjectGoal Navigation with Interaction-free Learning](https://mlsanity.com/paper/2201.10029/) (2022)
- [Kimera: from SLAM to Spatial Perception with 3D Dynamic Scene Graphs](https://mlsanity.com/paper/2101.06894/) (2021)
- [ESC: Exploration with Soft Commonsense Constraints for Zero-shot Object Navigation](https://mlsanity.com/paper/2301.13166/) (2023)
- [High-Quality Entity Segmentation](https://mlsanity.com/paper/2211.05776/) (2022)
- [GOAT: GO to Any Thing](https://mlsanity.com/paper/2311.06430/) (2023)
- [OVIR-3D: Open-Vocabulary 3D Instance Retrieval Without Training on 3D Data](https://mlsanity.com/paper/2311.02873/) (2023)
- [Auxiliary Tasks and Exploration Enable ObjectNav](https://mlsanity.com/paper/2104.04112/) (2021)
- [Can an Embodied Agent Find Your "Cat-shaped Mug"? LLM-Guided Exploration for Zero-Shot Object Navigation](https://mlsanity.com/paper/2303.03480/) (2023)
- [OpenFMNav: Towards Open-Set Zero-Shot Object Navigation via Vision-Language Foundation Models](https://mlsanity.com/paper/2402.10670/) (2024)
- [Semantic Visual Navigation by Watching YouTube Videos](https://mlsanity.com/paper/2006.10034/) (2020)
- [Foundations of Spatial Perception for Robotics: Hierarchical Representations and Real-time Systems](https://mlsanity.com/paper/2305.07154/) (2023)
- [Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems](https://mlsanity.com/paper/2106.14386/) (2021)
- [How To Not Train Your Dragon: Training-free Embodied Object Goal Navigation with Semantic Frontiers](https://mlsanity.com/paper/2305.16925/) (2023)
- [SayNav: Grounding Large Language Models for Dynamic Planning to Navigation in New Environments](https://mlsanity.com/paper/2309.04077/) (2023)

## Built on by (most cited first, 2 of 2)

- [Open-Vocabulary Indoor Object Grounding with 3D Hierarchical Scene Graph](https://mlsanity.com/paper/2507.12123/) (2025)
- [OpenSGA: Efficient 3D Scene Graph Alignment in the Open World](https://mlsanity.com/paper/2605.10484/) (2026)

## Abstract (arXiv)

In everyday life, frequently used objects like cups often have unfixed positions and multiple instances within the same category, and their carriers frequently change as well. As a result, it becomes challenging for a robot to efficiently navigate to a specific instance. To tackle this challenge, the robot must capture and update scene changes and plans continuously. However, current object navigation approaches primarily focus on semantic-level and lack the ability to dynamically update scene representation. This paper captures the relationships between frequently used objects and their static carriers. It constructs an open-vocabulary Carrier-Relationship Scene Graph (CRSG) and updates the carrying status during robot navigation to reflect the dynamic changes of the scene. Based on the CRSG, we further propose an instance navigation strategy that models the navigation process as a Markov Decision Process. At each step, decisions are informed by Large Language Model's commonsense knowledge and visual-language feature similarity. We designed a series of long-sequence navigation tasks for frequently used everyday items in the Habitat simulator. The results demonstrate that by updating the CRSG, the robot can efficiently navigate to moved targets. Additionally, we deployed our algorithm on a real robot and validated its practical effectiveness.