A vision-language model outputs dual heatmaps for navigation affordance and facing to ground semantic instructions into executable free space, achieving higher affordance rates than waypoint regression across simulated robot embodiments.
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Beyond Waypoints: Dual-Heatmap Grounding for Cross-Embodiment Semantic Navigation
A vision-language model outputs dual heatmaps for navigation affordance and facing to ground semantic instructions into executable free space, achieving higher affordance rates than waypoint regression across simulated robot embodiments.
- NavOne: One-Step Global Planning for Vision-Language Navigation on Top-Down Maps