SAGE-Nav: LLM計画とアライメント融合を活用した階層的シーングラフ誘導ナビゲーション
SAGE-Nav: Leveraging LLM Planning and Alignment Fusion for Hierarchical Scene Graph-Guided Navigation
LLMによる大域計画と階層的シーングラフ符号化、目標認識アライメント融合ネットワークを組み合わせ、物体目標ナビゲーションの性能と汎化性を向上させた。
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著者: Hao Su, Yuehao Huang, Yukai Ma, Yong Liu, Jiajun Lv
分類: cs.RO
原文アブストラクト
Object-Goal Navigation (ObjNav) requires embodied agents to autonomously locate specified targets using only egocentric visual observations. Existing monolithic methods struggle with long-horizon reasoning and generalize poorly to novel environments. To address these limitations, we propose SAGE-Nav, a novel hierarchical framework that integrates the reasoning capabilities of Large Language Models (LLMs) with dynamic scene graphs. Crucially, it decouples asynchronous global semantic planning from the high-frequency reactive control loop. The LLM serves as a global planner, decomposing abstract instructions into a sequence of semantically grounded waypoints. To translate these plans into dense multi-modal guidance, we design a Hierarchical Scene Graph Encoder (HSGE) that leverages relational graph convolutions to produce structure-aware embeddings preserving both semantic and spatial topology. Furthermore, we develop the Goal-aware Alignment-Fusion Network (GAFN) to dynamically fuse real-time perception with these structural priors. Using an adaptive gating mechanism with an explicit inductive bias, GAFN ensures robust visual-topological alignment for the low-level policy. Extensive evaluations in the i-THOR and RoboTHOR environments demonstrate that SAGE-Nav achieves state-of-the-art performance, delivering substantial gains in navigation efficiency and zero-shot generalization while maintaining the low control latency required for physical robotic deployment.
