R2F: Repurposing Ray Frontiers for LLM-free Object Navigation
Zero-shot open-vocabulary object navigation has progressed rapidly with the emergence of large Vision-Language Models (VLMs) and Large Language Models (LLMs), now widely used as high-level decision-makers instead of end-to-end policies. Although effective, such systems often rely on iterative large-model queries at inference time, introducing latency and computational overhead that limit real-time deployment. To address this problem, we repurpose ray frontiers (R2F), a recently proposed frontier-based exploration paradigm, to develop an LLM-free framework for indoor open-vocabulary object navigation. While ray frontiers were originally used to bias exploration using semantic cues carried ...
| Authors | Francesco Argenziano, John Mark Alexis Marcelo, Michele Brienza et al. |
|---|---|
| Primary category | cs.RO |
| Published | 9 March 2026 |
| Last updated at source | 9 March 2026 |
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