EvoMemNav: ゼロショット具現化ナビゲーションのための自己進化型高精細メモリ

原文アブストラクト

Building memory is essential for long-horizon planning in zero-shot embodied navigation. Detector-centric scene graphs often compress observations into sparse nodes, discarding fine-grained visual evidence and accumulating noise, while 3D reconstruction-based methods remain computationally prohibitive. We present EvoMemNav, an efficient, self-evolving, fine-grained memory framework for zero-shot embodied navigation. EvoMemNav constructs a Visual-Semantic Memory Graph (VSMGraph) that keeps raw views as first-class memory and organizes them with lightweight semantic cues and topological relations into a room-view-object hierarchy, preserving fine-grained details for disambiguation and Stop verification. To scale to growing memory, we introduce a budgeted coarse-to-fine policy: a coarse stage compresses the search space into promising regions, and a fine stage invokes a VLM only for targeted verification and decision. Beyond static memories, EvoMemNav performs reflection-driven write-back after each subtask, updating graph-attached priors that encode accumulated environmental knowledge to refine future decisions without retraining. Experiments on GOAT-Bench and HM3D across object, text-description, and image-goal modalities show consistent gains in SR/SPL, with better multi-instance disambiguation, fewer premature stops, and stronger zero-shot generalization.