ConsistNav: Closing the Action Consistency Gap in Zero-Shot Object Navigation with Semantic Executive Control
Zero-shot object navigation has advanced rapidly with open-vocabulary detectors, image--text models, and language-guided exploration. However, even after current methods detect a plausible target hypothesis, the agent may still oscillate between exploration and pursuit, or abandon the object near success. We identify this failure mode as an action consistency gap: semantic evidence is repeatedly reinterpreted at each step without persistent commitment across the episode. We introduce ConsistNav, a training-free zero-shot ObjectNav framework built around a semantic executive composed of three coordinated modules: Finite-State Executive Controller stages target pursuit through guarded seman...
| Authors | Haosen Wang, Zhenyang Li, Yinqiang Zhang et al. |
|---|---|
| Primary category | cs.RO |
| Published | 11 May 2026 |
| Last updated at source | 15 May 2026 |
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