RTNav: Towards Real-Time Zero-Shot Object Navigation

RTNav is a new architecture for real‑time zero‑shot object navigation that explicitly accounts for inference latency, asynchronous environment stepping, and bounded compute. It addresses the performance drop seen in existing methods when deployed under realistic timing constraints. On real‑time variants of HM3D‑v1, HM3D‑v2, and HM3D‑OVON, RTNav boosts success rate by up to 11% and Success weighted by Completion Time by up to 5.1 points.

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• agents
• efficiency
• benchmarks