Pith Number

pith:BQXXPF2Y

pith:2026:BQXXPF2YETWRXWM7G4VVD3QUK7

not attested not anchored not stored refs resolved

ConsistNav: Closing the Action Consistency Gap in Zero-Shot Object Navigation with Semantic Executive Control

Defeng Gu, Haosen Wang, Kai Li, Liaoyuan Fan, Lutao Jiang, Tingbang Liang, Wenjian Hou, Yibin Wen, Yinqiang Zhang, Yizhou Zhao, Zhenyang Li, Zongqi He

A semantic executive with three coordinated modules closes the action consistency gap by enforcing persistent commitment to target pursuit in zero-shot object navigation.

arxiv:2605.09869 v2 · 2026-05-11 · cs.RO · cs.CV

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\usepackage{pith}
\pithnumber{BQXXPF2YETWRXWM7G4VVD3QUK7}

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Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

ConsistNav achieves state-of-the-art results among compared zero-shot ObjectNav methods and improves SR by 11.4% and SPL by 7.9% over the controlled baseline on MP3D.

C2weakest assumption

The action consistency gap identified in the abstract is the dominant failure mode that can be closed by adding the three executive modules without introducing new exploration failures or requiring changes to the detector or planner.

C3one line summary

ConsistNav is a new training-free framework that uses a semantic executive controller, persistent candidate memory, and stability-aware action control to close the action consistency gap in zero-shot object navigation, reporting SOTA results on HM3D and MP3D with 11.4% SR and 7.9% SPL gains on MP3D.

References

69 extracted · 69 resolved · 2 Pith anchors

[1] Batra, Dhruv and Gokaslan, Aaron and Kembhavi, Aniruddha and Maksymets, Oleksandr and Mottaghi, Roozbeh and Savva, Manolis and Toshev, Alexander and Wijmans, Erik , journal =

[2] Savva, Manolis and Kadian, Abhishek and Maksymets, Oleksandr and Zhao, Yili and Wijmans, Erik and Jain, Bhavana and Straub, Julian and Liu, Jia and Koltun, Vladlen and Malik, Jitendra and Parikh, Devi

[3] and Undersander, Eric and Galuba, Wojciech and Westbury, Andrew and Chang, Angel X

[4] and Dai, Angela and Funkhouser, Thomas and Halber, Maciej and Niessner, Matthias and Savva, Manolis and Song, Shuran and Zeng, Andy and Zhang, Yinda , booktitle =

[5] Wijmans, Erik and Kadian, Abhishek and Morcos, Ari and Lee, Stefan and Essa, Irfan and Parikh, Devi and Savva, Manolis and Batra, Dhruv , booktitle =

Receipt and verification

First computed	2026-05-20T00:00:42.088436Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

0c2f77975824ed1bd99f372b51ee1457f9eddb44ef393d47f30955a0ed3cc513

Aliases

arxiv: 2605.09869 · arxiv_version: 2605.09869v2 · doi: 10.48550/arxiv.2605.09869 · pith_short_12: BQXXPF2YETWR · pith_short_16: BQXXPF2YETWRXWM7 · pith_short_8: BQXXPF2Y

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/BQXXPF2YETWRXWM7G4VVD3QUK7 \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 0c2f77975824ed1bd99f372b51ee1457f9eddb44ef393d47f30955a0ed3cc513

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "4ee19436eedc09dd21841db5475bf2056745d0de56b7137e9db0e237c9d6320b",
    "cross_cats_sorted": [
      "cs.CV"
    ],
    "license": "http://creativecommons.org/licenses/by-nc-sa/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-11T01:51:45Z",
    "title_canon_sha256": "c4441418c60fb1ccee4d8544e697364ce619da2f9ad2596b3b40169c1430e09a"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.09869",
    "kind": "arxiv",
    "version": 2
  }
}