IMPRINT: Image-Conditioned Query Enrichment for Long-Tail Object Goal Navigation
Embodied AI increasingly relies on queryable semantic maps built from pre-trained vision-language models to enable zero-shot Object Goal Navigation (ObjectNav). However, existing approaches typically depend on text-only queries, which become less reliable as semantic specificity increases toward fine-grained object categories. We introduce IMPRINT, a zero-shot plug-and-play framework that enriches textual object queries with web-sourced images to improve grounding in queryable maps. Retrieved images are encoded using a vision-language model, matched against the semantic map to produce similarity maps, and aggregated to yield context-aware localization. Notably, this requires no training o...
| Authors | Jelin Raphael Akkara, Filippo Ziliotto, Luciano Serafini et al. |
|---|---|
| Primary category | cs.CV |
| Published | 27 July 2026 |
| Last updated at source | 27 July 2026 |
Silytics shows public metadata from arXiv and links to the original. Information may be incomplete or out of date. Last refreshed 17 October 2026. Licenses and terms of the original apply to the work itself. Not financial, legal or professional advice.