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.
Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition , pages=
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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.