Multi-Floor Zero-Shot Object Navigation Policy
Lingfeng Zhang, Hao Wang, Erjia Xiao, Xinyao Zhang, Qiang Zhang,, Zixuan Jiang, Renjing Xu

TL;DR
This paper introduces a novel Multi-floor Navigation Policy (MFNP) that enables robots to navigate across multiple floors in complex environments using advanced reasoning and exploration strategies, significantly improving success rates in zero-shot object navigation tasks.
Contribution
The paper presents the first comprehensive multi-floor navigation policy integrating multi-modal reasoning and inter-floor transition strategies for zero-shot object navigation.
Findings
MFNP outperforms existing methods in success rate and exploration efficiency.
Ablation studies confirm the importance of each component in MFNP.
Real-world experiments demonstrate successful multi-floor navigation by a quadruped robot.
Abstract
Object navigation in multi-floor environments presents a formidable challenge in robotics, requiring sophisticated spatial reasoning and adaptive exploration strategies. Traditional approaches have primarily focused on single-floor scenarios, overlooking the complexities introduced by multi-floor structures. To address these challenges, we first propose a Multi-floor Navigation Policy (MFNP) and implement it in Zero-Shot object navigation tasks. Our framework comprises three key components: (i) Multi-floor Navigation Policy, which enables an agent to explore across multiple floors; (ii) Multi-modal Large Language Models (MLLMs) for reasoning in the navigation process; and (iii) Inter-Floor Navigation, ensuring efficient floor transitions. We evaluate MFNP on the Habitat-Matterport 3D (HM3D) and Matterport 3D (MP3D) datasets, both include multi-floor scenes. Our experiment results…
Peer Reviews
No public reviews on file for this paper yet. If you reviewed it on a platform where reviews are public (OpenReview, ICLR, NeurIPS, ICML), you can paste yours below so the community can read it here.
Videos
No videos yet. Explain this paper in a talk, walkthrough, or lecture? Add one.
Taxonomy
TopicsRobotic Path Planning Algorithms · Radiation Therapy and Dosimetry · Boron Compounds in Chemistry
