Context-Nav: Context-Driven Exploration and Viewpoint-Aware 3D Spatial Reasoning for Instance Navigation
Text-goal instance navigation (TGIN) asks an agent to resolve a single, free-form description into actions that reach the correct object instance among same-category distractors. We present \textit{Context-Nav}, which elevates long, contextual captions from a local matching cue to a global exploration prior and verifies candidates through 3D spatial reasoning. First, we compute dense text-image alignments for a value map that ranks frontiers -- guiding exploration toward regions consistent with the entire description rather than early detections. Second, upon observing a candidate, we perform a viewpoint-aware relation check: the agent samples plausible observer poses, aligns local frames...
| Authors | Won Shik Jang, Ue-Hwan Kim |
|---|---|
| Primary category | cs.CV |
| Published | 10 March 2026 |
| Last updated at source | 18 March 2026 |
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