PInVerify is a new offline embodied benchmark for active instance verification that supplies multi-view captures and 6-sector navigation topology, with MLLM baselines reaching 85.6% after fine-tuning but showing no reliable benefit from tested next-best-view strategies.
arXiv preprint arXiv:2510.10154 , year=
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HRNav decomposes image-goal navigation into VLM-based short-horizon planning and RL-based execution with a wandering suppression penalty to improve performance in complex unseen settings.
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Think before Go: Hierarchical Reasoning for Image-goal Navigation
HRNav decomposes image-goal navigation into VLM-based short-horizon planning and RL-based execution with a wandering suppression penalty to improve performance in complex unseen settings.