ZONDA: Zero-shot Object Navigation with Dynamic Avoidance in Multi-floor Environments
rsasaki0109 · x · 2026-08-14
ZONDA is a zero-shot object navigation framework for multi-floor environments, addressing limitations of existing methods restricted to static single-floor settings. It integrates heuristic multi-floor planning, multi-view target verification, and dynamic pedestrian avoidance. Evaluated on a real TITA biped robot and simulations on HM3D/MP3D, it achieves significant improvements and maintains robust navigation on the dynamic benchmark HM3D-DYNA.
Related event: ZONDA Enables Zero-Shot Navigation in Multi-Floor Environments(2 posts)→
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