Pith Number

pith:NYWU6MNE

pith:2026:NYWU6MNETXZ5JFLC6K6SAWPHLY

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MORN: Metacognitive Object-Goal Regulation for Resource-Rational Long-Horizon Navigation

Jiaqiao Tang, Jiayi Li, Kangyi Wu, Lin Zhao, Qingrong He, Xi Lin

MORN adds a metacognitive meta-controller to frozen navigation agents so they can estimate progress velocity and perceptual uncertainty and abort infeasible subgoals early.

arxiv:2605.16932 v1 · 2026-05-16 · cs.RO

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4 Citations open

5 Replications open

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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

MORN improves Goal Completion Rate (CR) from 0.23 to 0.30 and reduces Wasted Step Fraction (WSF) from 0.90 to 0.70 on the HM3D dataset by dynamically regulating the mission schedule based on online estimates of progress velocity and perceptual uncertainty.

C2weakest assumption

The three neuro-cognitive states (Potentiality Index, Persistence Gating, and Evidence Accumulation) can be formalized and estimated online from a frozen navigation backbone in a way that reliably distinguishes feasible from infeasible subgoals under partial observability.

C3one line summary

MORN augments frozen VLM-based object navigation agents with a System 2 meta-controller using Potentiality Index, Persistence Gating, and Evidence Accumulation to improve goal completion rate from 0.23 to 0.30 and reduce wasted steps on the HM3D dataset.

References

44 extracted · 44 resolved · 8 Pith anchors

[1] Available: https://arxiv.org/abs/2312.03275 2023

[2] ZSON: Zero-Shot Object-Goal Navigation using Multimodal Goal Embeddings, 2022

[3] How To Not Train Your Dragon: Training-free Embodied Object Goal Navigation with Semantic Fron- tiers, 2023

[4] Apexnav: An adaptive exploration strategy for zero-shot object naviga- tion with target-centric semantic fusion 2025

[5] Zero-shot Object Navigation with Vision-Language Models Reasoning, 2024

Formal links

2 machine-checked theorem links

Receipt and verification

First computed	2026-05-20T00:03:31.461108Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

6e2d4f31a49df3d49562f2bd2059e75e050c9dc47b057aec7bf07b1c6ef35e13

Aliases

arxiv: 2605.16932 · arxiv_version: 2605.16932v1 · doi: 10.48550/arxiv.2605.16932 · pith_short_12: NYWU6MNETXZ5 · pith_short_16: NYWU6MNETXZ5JFLC · pith_short_8: NYWU6MNE

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/NYWU6MNETXZ5JFLC6K6SAWPHLY \
  | 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: 6e2d4f31a49df3d49562f2bd2059e75e050c9dc47b057aec7bf07b1c6ef35e13

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "3e6a544f9b3bbdb34f66c3860cd6bdfa39cd78fe0723ced8eab2bdca9b545906",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-16T10:59:51Z",
    "title_canon_sha256": "845e229097e90580b4d8de84a9dcdcaf79b2b224d4b456d2f1efb1139d6e9c35"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.16932",
    "kind": "arxiv",
    "version": 1
  }
}