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OVMAN: A Task and Benchmark for Open-Vocabulary Motion-Aware Navigation

arXiv · AI, language, vision and robotics · article · Sep 6, 2026 · UTC

Homes change between a robot's visits. Navigation benchmarks pose their goals in the world the agent currently sees, and the two-visit benchmarks that exist score recall or rearrangement rather than navigation. None of them can express go to the chair that was moved or go to where the vase used to be. OVMAN is a task in which an agent tours a scene, returns after a scripted change, and must navigate to a goal specified by the change itself. Two of its six change relations answer with a place an object has left, where nothing remains to be detected. We release 219 two-visit episodes, each certi

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