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.
Advances in Neural Information Processing Systems , volume=
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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.
- Dual-Anchoring: Addressing State Drift in Vision-Language Navigation