A zero-shot MLLM framework decomposes last-mile navigation into view selection, affordance grounding, and base-pose reasoning, achieving SOTA on the OVMM benchmark.
Avoid images where obstacles/clutter block the approach path to the{object name}or where the{object name}appears unlikely to be reachable
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UniLM-Nav: A Unified Framework for Zero-Shot Last-Mile Navigation
A zero-shot MLLM framework decomposes last-mile navigation into view selection, affordance grounding, and base-pose reasoning, achieving SOTA on the OVMM benchmark.