{"paper":{"title":"LangMap: A Human-Verified Benchmark for Hierarchical Open-Vocabulary Goal Navigation","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.CV","authors_text":"Anton van den Hengel, Bo Miao, Feras Dayoub, Jian Liu, Jun Luo, Lachlan Shinnick, Thomas Hamilton-Smith, Vanja Videnovic, Weijia Liu, Yuhe Yang, Zijie Wu","submitted_at":"2026-02-02T15:26:19Z","abstract_excerpt":"Language-conditioned goal navigation (LGN) requires agents to locate user-specified targets without step-by-step guidance. However, existing benchmarks largely focus on category-level goals or rely on instance descriptions generated by vision-language models (VLMs), which often contain ambiguities and semantic errors, limiting systematic and reliable evaluation. We introduce HieraNav, an open-vocabulary LGN task with goals specified at four hierarchical semantic levels: scene, room, region, and instance. To this end, we present Language as a Map (LangMap), to our knowledge the first real-world"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2602.02220","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2602.02220/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}