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arXiv · 2608.12707

SAP-Nav: Spatial Semantic Representation Meets Active Perception for Hierarchical Open-Vocabulary Object Navigation

Xuetong Pei·Jian Liu·Vidura Munasinghe·Bo Miao·U-Xuan Tan·Wenrui Ding·Na Zhao
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Abstract

Hierarchical open-vocabulary object navigation (OVON) requires agents to follow free-form instructions that may specify targets through scene-, room-, region-, and instance-level cues in unseen environments. Although recent work LangMap has formalized this setting, reliably solving it under partial observations remains challenging: spatial grounding requires persistent environment-level evidence, whereas target verification requires clear and discriminative candidate views. We present SAP-Nav, a fully online, zero-shot framework that addresses both requirements through active perception. SAP-Nav incrementally constructs a Queryable Spatial-Semantic Representation from actively acquired room views, enabling spatial semantic queries from any explored location. It further employs Active Viewpoint Verification to assess whether the current observation provides sufficient evidence and, when necessary, reposition the agent to a more informative viewpoint before verifying candidates against category and attribute constraints. Although designed for hierarchical OVON, SAP-Nav supports both hierarchical and standard category-level OVON without task-specific training or precomputed scene maps. Experiments on LangMap and HM3D-OVON show that SAP-Nav achieves the overall best performance, including a 12.2% improvement in SR over training-based methods on region-level navigation. Real-world robot experiments further demonstrate its practical feasibility. Code will be made publicly available upon acceptance.

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Xuetong Pei, Jian Liu, Vidura Munasinghe, Bo Miao, U-Xuan Tan, Wenrui Ding, Na Zhao. 2026-08-13. SAP-Nav: Spatial Semantic Representation Meets Active Perception for Hierarchical Open-Vocabulary Object Navigation. https://arxiv.org/abs/2608.12707

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