HOSG-Nav: Hierarchical Open-Vocabulary Semantic Graph Navigation for Language-Guided Global Planning in 3D Gaussian Scenes
Yuchen Li, Kai Qin, Weiyi Chen, Haitao Wu · Electronics · 2026
Natural-language-driven robot navigation in complex indoor environments requires the joint capability of high-fidelity scene representation, structured semantic reasoning, and executable path planning. To address this challenge, this paper proposes HOSG-Nav, a unified framework for natural-language-driven global navigation that integrates open-vocabulary 3D Gaussian scene representation, hierarchical semantic scene graph construction, and large-language-model-driven planning. First, an open-vocabulary 3D Gaussian field is constructed to jointly encode scene geometry, appearance, and semantic information, where compressed CLIP features are lifted into continuous 3D space and depth supervision is introduced to enhance geometric stability and metric-scale consistency. Second, the optimized Gaussian primitives are further abstracted into a semantic scene graph with a region–object hierarchical structure and traversable topological relations to support structured environment understanding. Finally, for natural language instructions, hierarchical semantic parsing is performed with the assistance of a large language model, and executable global navigation paths are generated through cross-modal target retrieval and graph-search-based planning. Experimental results on the Replica dataset demonstrate that HOSG-Nav achieves competitive performance in scene representation, semantic target retrieval, and global navigation, validating the effectiveness of jointly integrating multimodal 3D representation, hierarchical semantic abstraction, and language-guided planning.