Hardware-Aware Acceleration of Open-Vocabulary Multi-Object Navigation on Edge GPUs

초록

Persistent open-vocabulary navigation enables robots to search for sequential language-specified objects using reusable visual semantic evidence. On edge GPUs, the pipeline is constrained by foundation-model inference, semantic projection, persistent map movement, frontier processing, and repeated target detection. Using OneMap as a controlled reference, we reorganize this workload through compiled mixed-precision perception, direct-to-map confidence-weighted feature aggregation, accelerator-resident semantic maps, compiled navigation operations, and language-conditioned detector scheduling. The resulting dataflow removes the dense image resolution feature intermediate and schedules target confirmation detection from current-view target similarity. On the complete Habitat-Matterport 3D benchmarks, our implementation retains 92.6% and 96.1% of the reproduced OneMap single- and multi-object success rates. Across 36 paired hardware-in-the-loop comparisons on a Jetson AGX Orin at four power modes, it achieves geometric mean speedups of 4.64 & times; for on-device computation and 3.55 & times; for the complete episode duration. It also reduces peak system random access memory (RAM) by 51.21% and a summed board-rail energy proxy by 75.32% on average while preserving every paired outcome. These results establish the coordinated dataflow and current-view target-conditioned execution as effective mechanisms for efficient persistent foundation-model navigation on power-constrained edge robots.

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