POINav-Bench provides the first high-fidelity real-world benchmark for POI-goal VLN using 3DGS reconstructions of 126k m² with 163 POIs, supported by a Brain-Action framework and 70K real signage-entrance dataset.
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NaVILA: Legged Robot Vision-Language-Action Model for Naviga- tion
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representative citing papers
AwareVLN introduces a structural reasoning module and automatic data engine with progress division to equip VLN agents with self-awareness of agent state and task progress, outperforming prior methods on Habitat datasets.
OmniNavBench is a unified benchmark for general-purpose navigation featuring composite multi-skill instructions, support for humanoid, quadrupedal and wheeled robots, and 1779 human teleoperated trajectories across 170 environments.
VLN-Cache delivers up to 1.52x faster inference in VLN models by using view-aligned remapping for geometric consistency and a task-relevance saliency filter to manage semantic changes during navigation.
SpikeVLA replaces transformer components in VLA models with spiking vision encoder, multi-modal LLM, and action policy network to reduce energy consumption while maintaining competitive performance on navigation tasks.
A zero-shot unified agent for VLN-CE, ObjectNav, EQA and Aerial-VLN on wheeled, quadruped, humanoid and UAV platforms that translates language and vision inputs into actions via MLLMs plus TDM and SCB mechanisms, matching trained foundation models on multiple benchmarks.
GA-VLN builds a geometry-aware BEV representation from RGB-D inputs plus 3D foundation model features to deliver state-of-the-art vision-language navigation using only navigation data.
SpaAct activates spatial awareness in VLMs using action retrospection, future frame prediction, and progressive curriculum learning to reach SOTA on VLN-CE benchmarks.
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.
HiRO-Nav adaptively triggers reasoning only on high-entropy actions via a hybrid training pipeline and shows better success-token trade-offs than always-reason or never-reason baselines on the CHORES-S benchmark.
DreamTIP adds LLM-identified task-invariant properties as auxiliary targets in Dreamer's world model plus a mixed-replay adaptation step, delivering 28.1% average simulated transfer gains and 100% real-world climb success versus 10% for baselines.
AstraNav-World unifies diffusion video generation and vision-language action planning in a single bidirectional model that improves trajectory accuracy, success rates, and zero-shot real-world adaptation in embodied navigation.
Semantic progress reasoning predicts instruction-style advancement from visual history to guide policies, yielding state-of-the-art success and efficiency on R2R-CE and RxR-CE.
R2RGen introduces a simulator-free three-stage pipeline that parses, augments, and post-processes real pointcloud observation-action pairs to improve spatial generalization in robotic manipulation policies.
Real-time chunking (RTC) allows diffusion- and flow-based action chunking policies to execute smoothly and asynchronously, maintaining high success rates on dynamic tasks even with significant inference latency.
π_{0.5} is a VLA model that achieves long-horizon dexterous manipulation in entirely new homes through co-training on heterogeneous tasks and multi-source data including web and semantic predictions.
FAST applies discrete cosine transform to robot action sequences for efficient tokenization, enabling autoregressive VLAs to succeed on high-frequency dexterous tasks and scale to 10k hours of data while matching diffusion VLA performance with up to 5x faster training.
Terrain-consistent reference modulation during RL training yields SE(2)-controllable humanoid locomotion policies that improve tracking in simulation and enable over 70 m closed-loop autonomous navigation on rough terrain and stairs on the Unitree G1 with onboard computation.
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.
The survey frames VLA models as pipelines that generate progressively grounded action tokens and classifies those tokens into eight types to guide future development.
NVILA improves on VILA with a scale-then-compress visual token strategy and full-lifecycle efficiency optimizations, matching or exceeding leading VLMs on image and video benchmarks while reducing training cost 1.9-5.1x and latencies 1.2-2.8x.
PEACE decouples single-pass LLM planning from PX4 execution via ROS 2 and a constraint layer, with modular 3D perception, and shows feasibility in Gazebo SITL with improved explainability and fewer LLM calls.
A survey of UAV vision-and-language navigation that establishes a methodological taxonomy, reviews resources and challenges, and proposes a forward-looking research roadmap.
citing papers explorer
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Beyond Isolation: A Unified Benchmark for General-Purpose Navigation
OmniNavBench is a unified benchmark for general-purpose navigation featuring composite multi-skill instructions, support for humanoid, quadrupedal and wheeled robots, and 1779 human teleoperated trajectories across 170 environments.
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SpaAct: Spatially-Activated Transition Learning with Curriculum Adaptation for Vision-Language Navigation
SpaAct activates spatial awareness in VLMs using action retrospection, future frame prediction, and progressive curriculum learning to reach SOTA on VLN-CE benchmarks.
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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.
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Learning Task-Invariant Properties via Dreamer: Enabling Efficient Policy Transfer for Quadruped Robots
DreamTIP adds LLM-identified task-invariant properties as auxiliary targets in Dreamer's world model plus a mixed-replay adaptation step, delivering 28.1% average simulated transfer gains and 100% real-world climb success versus 10% for baselines.
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FAST: Efficient Action Tokenization for Vision-Language-Action Models
FAST applies discrete cosine transform to robot action sequences for efficient tokenization, enabling autoregressive VLAs to succeed on high-frequency dexterous tasks and scale to 10k hours of data while matching diffusion VLA performance with up to 5x faster training.
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A Survey on Vision-Language-Action Models: An Action Tokenization Perspective
The survey frames VLA models as pipelines that generate progressively grounded action tokens and classifies those tokens into eight types to guide future development.
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NVILA: Efficient Frontier Visual Language Models
NVILA improves on VILA with a scale-then-compress visual token strategy and full-lifecycle efficiency optimizations, matching or exceeding leading VLMs on image and video benchmarks while reducing training cost 1.9-5.1x and latencies 1.2-2.8x.