IMPRINT: Image-Conditioned Query Enrichment for Long-Tail Object Goal Navigation

Embodied AI increasingly relies on queryable semantic maps built from pre-trained vision-language models to enable zero shot Object Goal Navigation (ObjectNav). However, existing approaches typically depend on text-only queries, which become less reliable as semantic specificity increases toward fine-grained object categories. We introduce APPROACH, a zero-shot plug-and-play framework that enriches textual object queries with web-sourced images to improve grounding in queryable maps. Retrieved images are encoded using a vision-language model, matched against the semantic map to produce similarity maps, and aggregated to yield context-aware localization. Notably, this requires no training or modification of the underlying navigation policy. To explicitly evaluate long-tail behavior, we present HSSD rare, a new ObjectNav benchmark built on Habitat Synthetic Scenes and featuring semantically specific subcategories. Across both OVON and HSSD rare, image-conditioned queries consistently improve object grounding and yield end-to-end navigation gains. Further analysis reveals that translating localization gains to navigation performance depends critically on downstream detection quality, highlighting a key systems bottleneck in long-tail embodied navigation.