Advancing Object Goal Navigation Through LLM-enhanced Object Affinities Transfer (2403.09971v2)

Abstract: In object goal navigation, agents navigate towards objects identified by category labels using visual and spatial information. Previously, solely network-based methods typically rely on historical data for object affinities estimation, lacking adaptability to new environments and unseen targets. Simultaneously, employing LLMs for navigation as either planners or agents, though offering a broad knowledge base, is cost-inefficient and lacks targeted historical experience. Addressing these challenges, we present the LLM-enhanced Object Affinities Transfer (LOAT) framework, integrating LLM-derived object semantics with network-based approaches to leverage experiential object affinities, thus improving adaptability in unfamiliar settings. LOAT employs a dual-module strategy: a generalized affinities module for accessing LLMs' vast knowledge and an experiential affinities module for applying learned object semantic relationships, complemented by a dynamic fusion module harmonizing these information sources based on temporal context. The resulting scores activate semantic maps before feeding into downstream policies, enhancing navigation systems with context-aware inputs. Our evaluations conducted in the AI2-THOR and Habitat simulators indicate significant improvements in both navigation success rates and overall efficiency. Furthermore, the system performs effectively when deployed on a real robot without requiring additional training, thereby validating the efficacy of LOAT in integrating LLM insights for enhanced object-goal navigation.