Schr"oding, Navigator: Imagining an Ensemble of Futures for Zero-Shot Object Navigation

This research proposes Schr"odinger's Navigator, a belief-aware framework for zero-shot object navigation that reasons over multiple trajectory-conditioned imagined 3D futures. The method improves hidden-target discovery and risk-aware waypoint selection in occluded environments through a Future-Aware Value Map and adaptive occluder-aware sampling, outperforming existing baselines in both simulation and physical testing.