Abstract
Zero-shot object navigation requires an embodied agent to choose where to search while retaining evidence from previous observations. HGWM couples an LLM-generated room-anchor prior with persistent spatial-semantic memory. A coarse stage assigns visual-semantic scores to candidate headings on a 0-10 scale; a fine stage measures symbolic compatibility between observed objects, room context, and the goal prior. Phase-dependent fusion combines these scores with an LLM direction recommendation before local action selection. On HM3D v0.1, the reported HGWM configuration achieves 62.6% success rate (SR) and 31.5% success weighted by path length (SPL), compared with 58.1% and 31.2% for WMNav. On MP3D, the corresponding values are 46.8% and 17.9%, compared with 45.4% and 17.2%. The results indicate higher success point estimates and modest path-efficiency gains. On HM3D v0.2, the full model obtains 74.4% SR and 31.9% SPL. Additional component ablations reduce SR by 0.9-2.3 percentage points and SPL by 0.6-1.5 points. These are author-reported aggregate measurements. The accompanying implementation repairs pass offline tests; episode-level rerun records are not available. Evaluation is confined to simulation.
Abstract (translated)
URL
https://arxiv.org/abs/2610.32554
