A coupled world-agent framework uses 3D Gaussian reconstruction and first-person RGB-D perception with iterative planning to enable goal-directed, collision-avoiding humanoid behavior in novel reconstructed scenes.
Navigation Models:All general- purpose VLMs (Ours with various backbones) outper- form training-based navigation specialists (NaVILA, NaVid, Uni-NaVid)
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Visually-grounded Humanoid Agents
A coupled world-agent framework uses 3D Gaussian reconstruction and first-person RGB-D perception with iterative planning to enable goal-directed, collision-avoiding humanoid behavior in novel reconstructed scenes.