We introduce ELA-ZSON, an efficient layout-aware zero-shot object navigation (ZSON) approach designed for complex multi-room indoor environments.By planning hierarchically leveraging a global topologigal map with layout information and local imperative approach with detailed scene representation memory, ELA-ZSON achieves both efficient and effective navigation.The process is managed by an LLM-powered agent, ensuring seamless effective planning and navigation, without the need for human interaction, complex rewards, or costly training.Our experimental results on the MP3D benchmark achieves 85\% object navigation success rate (SR) and 79\% success rate weighted by path length (SPL) (over 40\% point improvement in SR and 60\% improvement in SPL compared to exsisting methods). Furthermore, we validate the robustness of our approach through virtual agent and real-world robotic deployment, showcasing its capability in practical scenarios. Seethis https URLfor details.
View on arXiv@article{hou2025_2505.06131,
title={ ELA-ZSON: Efficient Layout-Aware Zero-Shot Object Navigation Agent with Hierarchical Planning },
author={ Jiawei Hou and Yuting Xiao and Xiangyang Xue and Taiping Zeng },
journal={arXiv preprint arXiv:2505.06131},
year={ 2025 }
}