Memory-Augmented Scene Understanding and Exploration for Open-World Aerial Object-Goal Navigation

Aerial object-goal navigation (Aerial ObjectNav) requires an Unmanned Aerial Vehicle (UAV) to navigate to target objects in large-scale outdoor environments using only visual observations and high-level object descriptions, without detailed step-by-step instructions. Existing approaches rely on local observations or short-term history, lacking comprehensive scene understanding and efficient spatial exploration strategies, which constrains their navigation capability in complex aerial scenarios. To address these challenges, we propose OctMem-Agent, an octree memory-augmented framework for aerial object-goal navigation. Specifically, we introduce an Adaptive Octree Memory that incrementally aggregates RGB-D observations into a hierarchical 3D representation, capturing both explored regions and unexplored frontiers across large-scale aerial environments. We further propose a Instruction-Guided Memory Query module that extracts task-relevant scene and exploration tokens through instruction-modulated queries. By integrating these tokens with visual observations and language instructions, OctoMem-Agent achieves comprehensive scene understanding and effective spatial exploration for target localization. Extensive experiments on the Aerial ObjectNav benchmark UAV-ON demonstrate that our method achieves a significant 7.5\% improvement in success rate over existing methods, validating the effectiveness of our design.