arXiv:2606.10348cs.RO2026-06

动态调节语义线索,让智能体在未知环境导航时避开误导性信息。

Semantic Evidence Regulation via Relational Bias for Zero-Shot Object Navigation

论文配图:Semantic Evidence Regulation via Relational Bias for Zero-Shot Object Navigation
图 1 · 摘自论文原文
  • 通过激活与抑制双重关系偏置,动态调整语义线索影响。
  • 在标准基准上提升成功率与路径效率,优于现有零样本方法。
  • 无需训练,适合真实机器人部署,抗感知噪声能力强。

物体导航要求具身智能体通过视觉观察在未知环境中定位目标物体。现有零样本方法通常依赖开放词汇感知和语义先验来识别有希望的搜索区域,但这些方法常假设语义线索具有可靠性,缺乏在探索过程中评估和调整其影响的机制。因此,误导性语义证据可能持续存在,导致前沿选择偏差,使智能体反复探索不可靠区域。为此,我们提出SER-Nav——一种无需训练的框架,通过关系偏置实现动态语义证据调节。SER-Nav引入双重关系偏置:激活增强与目标相关及上下文相关的证据以引导探索,抑制则削弱由感知混淆和验证失败引起的误导性证据。这些关系偏置动态更新导航搜索空间,且可靠性感知的承诺门防止对未充分验证目标的过早追求。通过自适应调节语义线索影响,SER-Nav在噪声开放词汇感知下既保留有用指导,又缓解持续性语义误导。在标准ObjectNav基准上的实验表明,SER-Nav始终优于代表性零样本方法,在成功率与路径效率上均有提升。大量消融实验证明各组件有效性。真实机器人实验进一步验证其鲁棒性与实用性。

原文摘要 · Abstract (English)

Object navigation requires an embodied agent to locate a target object in an unknown environment through visual observations. Existing zero-shot methods typically leverage open-vocabulary perception and semantic priors to identify promising search regions. However, these methods often assume that semantic cues provide reliable guidance, while lacking mechanisms to assess and adjust their influence during exploration. Consequently, misleading semantic evidence can persist throughout navigation, biasing frontier selection and causing agents to repeatedly explore unreliable regions. To address this problem, we propose SER-Nav, a training-free framework that achieves dynamic Semantic Evidence Regulation via relational bias. SER-Nav introduces dual relational biases: activation reinforces target-related and contextual evidence to guide exploration, while inhibition attenuates misleading evidence caused by perceptual confusion and failed verification. These relational biases dynamically update the navigation search space, and a reliability-aware commitment gate prevents premature pursuit of insufficiently verified targets. By adaptively adjusting the influence of semantic cues, SER-Nav preserves useful guidance while mitigating persistent semantic misguidance under noisy open-vocabulary perception. Experiments on standard ObjectNav benchmarks demonstrate that SER-Nav consistently improves success rate and path efficiency over representative zero-shot methods. Extensive ablation studies further validate the effectiveness of each component. Real-world robot experiments further validate its robustness and practical applicability.

导航语义调节零样本机器人

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