# Interactive Navigation Beyond Reachability: Benchmark and Agentic Framework

arXiv: https://arxiv.org/abs/2610.17089 · HTML: https://mlsanity.com/paper/2610.17089/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Placed in Multimodal and embodied agents, one of 16 directions in LLM agents and tool use.
- Builds on 43 of its 50 references that are in the map.
- First posted on arXiv 12 Oct 2026.

## Placed in

- LLM agents and tool use / [Multimodal and embodied agents](https://mlsanity.com/agents/multimodal-and-embodied-agents/)

## Builds on (most cited first, 30 of 43)

- [Do As I Can, Not As I Say: Grounding Language in Robotic Affordances](https://mlsanity.com/paper/2204.01691/) (2022)
- [Habitat: A Platform for Embodied AI Research](https://mlsanity.com/paper/1904.01201/) (2019)
- [Inner Monologue: Embodied Reasoning through Planning with Language Models](https://mlsanity.com/paper/2207.05608/) (2022)
- [Vision-and-Language Navigation: Interpreting visually-grounded navigation instructions in real environments](https://mlsanity.com/paper/1711.07280/) (2017)
- [AI2-THOR: An Interactive 3D Environment for Visual AI](https://mlsanity.com/paper/1712.05474/) (2017)
- [ALFRED: A Benchmark for Interpreting Grounded Instructions for Everyday Tasks](https://mlsanity.com/paper/1912.01734/) (2019)
- [VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models](https://mlsanity.com/paper/2307.05973/) (2023)
- [ProgPrompt: Generating Situated Robot Task Plans using Large Language Models](https://mlsanity.com/paper/2209.11302/) (2022)
- [On Evaluation of Embodied Navigation Agents](https://mlsanity.com/paper/1807.06757/) (2018)
- [Beyond the Nav-Graph: Vision-and-Language Navigation in Continuous Environments](https://mlsanity.com/paper/2004.02857/) (2020)
- [Object Goal Navigation using Goal-Oriented Semantic Exploration](https://mlsanity.com/paper/2007.00643/) (2020)
- [ConceptGraphs: Open-Vocabulary 3D Scene Graphs for Perception and Planning](https://mlsanity.com/paper/2309.16650/) (2023)
- [ObjectNav Revisited: On Evaluation of Embodied Agents Navigating to Objects](https://mlsanity.com/paper/2006.13171/) (2020)
- [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)
- [PDDLStream: Integrating Symbolic Planners and Blackbox Samplers via Optimistic Adaptive Planning](https://mlsanity.com/paper/1802.08705/) (2018)
- [BEHAVIOR-1K: A Human-Centered, Embodied AI Benchmark with 1,000 Everyday Activities and Realistic Simulation](https://mlsanity.com/paper/2403.09227/) (2024)
- [3D Dynamic Scene Graphs: Actionable Spatial Perception with Places, Objects, and Humans](https://mlsanity.com/paper/2002.06289/) (2020)
- [SG-Nav: Online 3D Scene Graph Prompting for LLM-based Zero-shot Object Navigation](https://mlsanity.com/paper/2410.08189/) (2024)
- [Interactive Gibson Benchmark (iGibson 0.5): A Benchmark for Interactive Navigation in Cluttered Environments](https://mlsanity.com/paper/1910.14442/) (2019)
- [Open3DSG: Open-Vocabulary 3D Scene Graphs from Point Clouds with Queryable Objects and Open-Set Relationships](https://mlsanity.com/paper/2402.12259/) (2024)
- [Language-Grounded Dynamic Scene Graphs for Interactive Object Search with Mobile Manipulation](https://mlsanity.com/paper/2403.08605/) (2024)
- [Ground Slow, Move Fast: A Dual-System Foundation Model for Generalizable Vision-and-Language Navigation](https://mlsanity.com/paper/2512.08186/) (2025)
- [HRL4IN: Hierarchical Reinforcement Learning for Interactive Navigation with Mobile Manipulators](https://mlsanity.com/paper/1910.11432/) (2019)
- [Hierarchical Representations and Explicit Memory: Learning Effective Navigation Policies on 3D Scene Graphs using Graph Neural Networks](https://mlsanity.com/paper/2108.01176/) (2021)
- [SPOC: Imitating Shortest Paths in Simulation Enables Effective Navigation and Manipulation in the Real World](https://mlsanity.com/paper/2312.02976/) (2023)
- [Dynamic Open-Vocabulary 3D Scene Graphs for Long-term Language-Guided Mobile Manipulation](https://mlsanity.com/paper/2410.11989/) (2024)
- [SPIN: Simultaneous Perception, Interaction and Navigation](https://mlsanity.com/paper/2405.07991/) (2024)
- [Optimal Scene Graph Planning with Large Language Model Guidance](https://mlsanity.com/paper/2309.09182/) (2023)

## Abstract (arXiv)

Existing embodied navigation tasks commonly assume that traversability and object states remain fixed during an episode. Yet reaching a goal may require opening a door to access a room and then opening a container to reveal a hidden target. We formulate interactive navigation beyond reachability, unifying channel-induced changes in spatial connectivity, container-induced changes in target visibility, and their sequential dependencies. We introduce MultINav-Bench, a 3K-episode ObjectGoal benchmark in MolmoSpaces spanning channel, container, and mixed tasks, with interaction-necessity annotations covering required and unnecessary episodes. Its data generation pipeline automates task construction across multiple task types. The evaluation protocol separately measures navigation success, interaction effectiveness, and cost. We further propose MultINav-Agent, a three-stage agentic framework built on a persistent, state-conditioned interaction graph. Semantic interactive perception grounds entities and interaction states; a vision-language model selects task-relevant actions based on expected changes in connectivity and target observability; and post-interaction verification updates the graph to guide subsequent navigation, exploration, or interaction. Experiments on MultINav-Bench show that MultINav-Agent consistently outperforms adapted baselines across channel, container, and mixed tasks.