LOVON: Legged Open-Vocabulary Object Navigator
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arXiv
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| Autores principales: | , , , |
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| Formato: | Preprint |
| Publicado: |
2025
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| _version_ | 1866909681444716544 |
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| author | Peng, Daojie Cao, Jiahang Zhang, Qiang Ma, Jun |
| author_facet | Peng, Daojie Cao, Jiahang Zhang, Qiang Ma, Jun |
| contents | Object navigation in open-world environments remains a formidable and pervasive challenge for robotic systems, particularly when it comes to executing long-horizon tasks that require both open-world object detection and high-level task planning. Traditional methods often struggle to integrate these components effectively, and this limits their capability to deal with complex, long-range navigation missions. In this paper, we propose LOVON, a novel framework that integrates large language models (LLMs) for hierarchical task planning with open-vocabulary visual detection models, tailored for effective long-range object navigation in dynamic, unstructured environments. To tackle real-world challenges including visual jittering, blind zones, and temporary target loss, we design dedicated solutions such as Laplacian Variance Filtering for visual stabilization. We also develop a functional execution logic for the robot that guarantees LOVON's capabilities in autonomous navigation, task adaptation, and robust task completion. Extensive evaluations demonstrate the successful completion of long-sequence tasks involving real-time detection, search, and navigation toward open-vocabulary dynamic targets. Furthermore, real-world experiments across different legged robots (Unitree Go2, B2, and H1-2) showcase the compatibility and appealing plug-and-play feature of LOVON. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2507_06747 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | LOVON: Legged Open-Vocabulary Object Navigator Peng, Daojie Cao, Jiahang Zhang, Qiang Ma, Jun Robotics Computer Vision and Pattern Recognition Object navigation in open-world environments remains a formidable and pervasive challenge for robotic systems, particularly when it comes to executing long-horizon tasks that require both open-world object detection and high-level task planning. Traditional methods often struggle to integrate these components effectively, and this limits their capability to deal with complex, long-range navigation missions. In this paper, we propose LOVON, a novel framework that integrates large language models (LLMs) for hierarchical task planning with open-vocabulary visual detection models, tailored for effective long-range object navigation in dynamic, unstructured environments. To tackle real-world challenges including visual jittering, blind zones, and temporary target loss, we design dedicated solutions such as Laplacian Variance Filtering for visual stabilization. We also develop a functional execution logic for the robot that guarantees LOVON's capabilities in autonomous navigation, task adaptation, and robust task completion. Extensive evaluations demonstrate the successful completion of long-sequence tasks involving real-time detection, search, and navigation toward open-vocabulary dynamic targets. Furthermore, real-world experiments across different legged robots (Unitree Go2, B2, and H1-2) showcase the compatibility and appealing plug-and-play feature of LOVON. |
| title | LOVON: Legged Open-Vocabulary Object Navigator |
| topic | Robotics Computer Vision and Pattern Recognition |
| url | https://arxiv.org/abs/2507.06747 |