English

LOG-Nav: Efficient Layout-Aware Object-Goal Navigation with Hierarchical Planning

Robotics 2025-12-09 v3

Abstract

We introduce LOG-Nav, an efficient layout-aware object-goal navigation 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, LOG-Nav 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.

Keywords

Cite

@article{arxiv.2505.06131,
  title  = {LOG-Nav: Efficient Layout-Aware Object-Goal Navigation with Hierarchical Planning},
  author = {Jiawei Hou and Yuting Xiao and Xiangyang Xue and Taiping Zeng},
  journal= {arXiv preprint arXiv:2505.06131},
  year   = {2025}
}
R2 v1 2026-06-28T23:27:23.564Z