arxivcs.CVcs.RO2026-06-30
Hierarchical 3D Scene Graph Construction and Belief-based Planning for Semantic Navigation
Bing Wu, Zuyao Chen, Changwen Chen
Semantic navigation is a fundamental task for embodied agents operating in unseen environments, requiring both semantic understanding and long-term decision-making. Recent foundation models have empowered agents with rich semantic priors for this task. However, without structured…