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原文摘要

Zero-shot object navigation requires an agent to reason about where a target may be found while retaining evidence from previous observations. We present HGWM, a hierarchical graph-guided world model that combines a category-conditioned room--anchor prior with persistent spatial-semantic memory. A coarse stage uses a vision-language model to score candidate headings, while a fine stage explicitly compares observed objects and relations with the goal prior. Phase-dependent fusion integrates these signals with a language-model recommendation to guide local navigation. HGWM achieves 62.6\% success rate (SR) and 31.5\% success weighted by path length (SPL) on HM3D v0.1, improving over WMNav by 4.5 and 0.3 percentage points, respectively. On MP3D, it achieves 46.8\% SR and 17.9\% SPL, with gains of 1.4 and 0.7 points. On HM3D v0.2, the full model reaches 74.4\% SR and 31.9\% SPL; removing individual components reduces SR by 0.9--2.3 points and SPL by 0.6--1.5 points. These results support the use of relational priors and persistent graph memory for target-directed search.