[2510.16518] DIV-Nav: Open-Vocabulary Spatial Relationships for Multi-Object Navigation

Computer Science > Robotics arXiv:2510.16518 (cs) [Submitted on 18 Oct 2025 (v1), last revised 30 Mar 2026 (this version, v2)] Title:DIV-Nav: Open-Vocabulary Spatial Relationships for Multi-Object Navigation Authors:Jesús Ortega-Peimbert, Finn Lukas Busch, Timon Homberger, Quantao Yang, Olov Andersson View a PDF of the paper titled DIV-Nav: Open-Vocabulary Spatial Relationships for Multi-Object Navigation, by Jes\'us Ortega-Peimbert and 4 other authors View PDF HTML (experimental) Abstract:Advances in open-vocabulary semantic mapping and object navigation have enabled robots to perform an informed search of their environment for an arbitrary object. However, such zero-shot object navigation is typically designed for simple queries with an object name like "television" or "blue rug". Here, we consider more complex free-text queries with spatial relationships, such as "find the remote on the table" while still leveraging robustness of a semantic map. We present DIV-Nav, a real-time navigation system that efficiently addresses this problem through a series of relaxations: i) Decomposing natural language instructions with complex spatial constraints into simpler object-level queries on a semantic map, ii) computing the Intersection of individual semantic belief maps to identify regions where all objects co-exist, and iii) Validating the discovered objects against the original, complex spatial constrains via a LVLM. We further investigate how to adapt the frontier exploration o...