ForesightNav uses a learned imagination module that predicts unseen occupancy and CLIP semantic features from partial maps, then selects navigation goals from the imagined map, improving simulated PointNav and ObjectNav efficiency on Structured3D.
3d scene graph: A structure for unified semantics, 3d space, and cam- era
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ForesightNav: Learning Scene Imagination for Efficient Exploration
ForesightNav uses a learned imagination module that predicts unseen occupancy and CLIP semantic features from partial maps, then selects navigation goals from the imagined map, improving simulated PointNav and ObjectNav efficiency on Structured3D.