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depriving complex navigation decision-making over multiple composite possibilities that are critical for globally better solutions.\n  In this paper, we propose Probabilistic Scene Graph Navigation (PSG-Nav), which constructs a 3D Probabilistic Scene Graph that uses full semantic categorical distributions to account for perception uncertainty.\n  To efficiently use the local distributions to compose and reason about the optimal navigation landmarks, we propose Multiverse Decision to sample multiple most likely world settings from the joint distribution, and evaluate navigation landmarks based on the compatibility between landmarks and multiverses.\n  To mitigate false positives due to epistemic uncertainty in ope","title":"PSG-Nav: Probabilistic Scene Graph Navigation via Multiverse Decision Making","url":"https://arxiv.org/abs/2606.01313","vendor":"arxiv_cs_ai"},"summary":"arXiv:2606.01313v1 Announce Type: cross \nAbstract: Open-vocabulary navigation requires embodied agents to manage 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