{"paper":{"title":"HAM-VLN: Harnessing Hierarchical Agentic Memory for Zero-Shot Vision-and-Language Navigation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"An Liu, Bingxi Liu, Cong Leng, Fulin Tang, Hongyu Ding, Hong Zhang, Jian Cheng, Yaran Chen, Yixuan Jiang","submitted_at":"2026-07-31T16:32:38Z","abstract_excerpt":"Vision-and-language navigation (VLN) enables robots to follow instructions in previously unseen environments. Recently, a training-free paradigm has emerged: the robot queries a multimodal LLM to understand its observations and plan the next action. However, long-horizon navigation based on either image streams or dense map inevitably introduces a growing memory and reasoning bottleneck. We present HAM-VLN, a decision-coupled, agent-authored memory that equips the robot with a persistent, depth-grounded world graph. In the same model call used to select the next action, HAM-VLN also records se"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.29600","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2607.29600/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}