TopV-Nav: Unlocking the Top-View Spatial Reasoning Potential of MLLM for Zero-shot Object Navigation

• URL: http://arxiv.org/abs/2411.16425v1
• Date: Mon, 25 Nov 2024 14:27:55 GMT
• Title: TopV-Nav: Unlocking the Top-View Spatial Reasoning Potential of MLLM for Zero-shot Object Navigation
• Authors: Linqing Zhong, Chen Gao, Zihan Ding, Yue Liao, Si Liu,
• Abstract summary: We introduce TopV-Nav, a MLLM-based method that directly reasons on the top-view map with complete spatial information. To fully unlock the MLLM's spatial reasoning potential in top-view perspective, we propose the Adaptive Visual Prompt Generation (AVPG) method. Also, we design a Dynamic Map Scaling (DMS) mechanism to dynamically zoom top-view map at preferred scales.
• Score: 34.85111360243636
• License:
• Abstract: The Zero-Shot Object Navigation (ZSON) task requires embodied agents to find a previously unseen object by navigating in unfamiliar environments. Such a goal-oriented exploration heavily relies on the ability to perceive, understand, and reason based on the spatial information of the environment. However, current LLM-based approaches convert visual observations to language descriptions and reason in the linguistic space, leading to the loss of spatial information. In this paper, we introduce TopV-Nav, a MLLM-based method that directly reasons on the top-view map with complete spatial information. To fully unlock the MLLM's spatial reasoning potential in top-view perspective, we propose the Adaptive Visual Prompt Generation (AVPG) method to adaptively construct semantically-rich top-view map. It enables the agent to directly utilize spatial information contained in the top-view map to conduct thorough reasoning. Besides, we design a Dynamic Map Scaling (DMS) mechanism to dynamically zoom top-view map at preferred scales, enhancing local fine-grained reasoning. Additionally, we devise a Target-Guided Navigation (TGN) mechanism to predict and to utilize target locations, facilitating global and human-like exploration. Experiments on MP3D and HM3D benchmarks demonstrate the superiority of our TopV-Nav, e.g., $+3.9\%$ SR and $+2.0\%$ SPL absolute improvements on HM3D.

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