Room-Mediated Co-occurrence for Zero-Shot Object-Centric Semantic Navigation via Frontier Scoring

arXiv:2607.25448v1 Announce Type: new Abstract: Zero-shot ObjectNav methods increasingly use vision-language priors, but direct object-object similarity in the latent space is often a weak proxy for spatial co-occurrence. We present an analytical, training-free semantic navigation pipeline that mediates object relationships through a compact room lexicon. Each object label is mapped to a CLIP-derived Room Probability Vector (RPV), and object-target co-occurrence is computed from RPV distribution...