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waynechu1021/Awesome_Visual_Language_Navigation

End-to-End Visual Language Navigation with Limited Sensing: A Survey

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updated Sep 17, 2026

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๐Ÿงญ Awesome Visual Language Navigation

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๐ŸŒŸ Overview

๐Ÿ“š Preliminaries

Simulation, Data and Control

Toward More Realistic Simulation

YearPaperVenueResources
2026Image2Sim: Scaling Embodied Navigation via Generative Neural Simulator2026 arXivCode Data
2026Habitat-GS: A High-Fidelity Navigation Simulator with Dynamic Gaussian Splatting2026 arXivProject Code
2026NavGSim: High-Fidelity Gaussian Splatting Simulator for Large-Scale Navigation2026 ICRACode
2025VLNVerse: A Benchmark for Vision-Language Navigation with Versatile, Embodied, Realistic Simulation and Evaluation2025 arXivProject Code
2025Towards Physically Executable 3D Gaussian for Embodied Navigation2025 arXivโ€”
2025Rethinking the embodied gap in vision-and-language navigation: A holistic study of physical and visual disparities2025 ICCVProject Code
2023Habitat 3.0: A co-habitat for humans, avatars and robots2023 arXivโ€”
2021Habitat-Matterport 3D Dataset (HM3D): 1000 Large-scale 3D Environments for Embodied AI2021 NeurIPS D&Bโ€”
2020Beyond the nav-graph: Vision-and-language navigation in continuous environments2020 ECCVโ€”
2019PyRobot: An Open-source Robotics Framework for Research and Benchmarking2019 arXivCode
2019Habitat: A Platform for Embodied AI Research2019 ICCVCode
2018Gibson env: Real-world perception for embodied agents2018 CVPRโ€”
2017AI2-THOR: An Interactive 3D Environment for Visual AI2017 arXivProject
2017Matterport3D: Learning from RGB-D Data in Indoor Environments2017 3DVCode

Towards More Diverse Datasets&Benchmarks

YearPaperVenueResources
2026HumanoidVLN: A Physics-Grounded Simulator and Benchmark for Vision-Language Navigation Across Diverse Humanoid Embodiments2026 arXivProject
2026DaViNCi: A Dataset Towards Outdoor Vision-and-Language Navigation with Continuous Actions and Dynamic Elements2026 arXivProject
2026Beyond Isolation: A Unified Benchmark for General-Purpose Navigation2026 RSSProject Code
2026MiniVLA-Nav v1: A Multi-Scene Simulation Dataset for Language-Conditioned Robot Navigation2026 arXivโ€”
2026Explore with Long-term Memory: A Benchmark and Multimodal LLM-based Reinforcement Learning Framework for Embodied Exploration2026 arXivโ€”
2026CoNavBench: Collaborative Long-Horizon Vision-Language Navigation Benchmark2026 ICLRProject
2026Rule-VLN: Bridging Perception and Compliance via Semantic Reasoning and Geometric Rectification2026 arXivโ€”
2026AirNav: A Large-Scale Real-World UAV Vision-and-Language Navigation Dataset with Natural and Diverse Instructions2026 arXivโ€”
2025IndoorUAV: Benchmarking Vision-Language UAV Navigation in Continuous Indoor Environments2025 arXivโ€”
2025VL-LN Bench: Towards Long-horizon Goal-oriented Navigation with Active Dialogs2025 arXivCode Data
2025OpenFly: A Comprehensive Platform for Aerial Vision-Language Navigation2025 arXivCode Data
2025Collaborative Instance Object Navigation: Leveraging Uncertainty-Awareness to Minimize Human-Agent Dialogues2025 ICCVProject Code Data
2025RoomTour3D: Geometry-Aware Video-Instruction Tuning for Embodied Navigation2025 CVPRCode Data
2025Towards long-horizon vision-language navigation: Platform, benchmark and method2025 CVPRCode
2025CityWalker: Learning Embodied Urban Navigation from Web-Scale Videos2025 CVPRCode Data
2025UrbanNav: Learning Language-Guided Urban Navigation from Web-Scale Human Trajectories2025 arXivCode
2025UAV-Flow Colosseo: A Real-World Benchmark for Flying-on-a-Word UAV Imitation Learning2025 arXivโ€”
2024Embodiedcity: A benchmark platform for embodied agent in real-world city environment2024 arXivCode
2024InstruGen: Automatic Instruction Generation for Vision-and-Language Navigation Via Large Multimodal Models2024 arXivCode
2024Towards realistic uav vision-language navigation: Platform, benchmark, and methodology2024 arXivProject Code Data
2024CityNav: Language-goal aerial navigation dataset with geographic information2024 arXivCode
2024Mind the error! detection and localization of instruction errors in vision-and-language navigation2024 IROSProject Code
2024Hazard challenge: Embodied decision making in dynamically changing environments2024 arXivProject
2023AerialVLN: Vision-and-Language Navigation for UAVs2023 ICCVCode
2023Iterative vision-and-language navigation2023 CVPRCode
2023Scaling Data Generation in Vision-and-Language Navigation2023 ICCVโ€”
2022REVE-CE: Remote Embodied Visual Referring Expression in Continuous Environment2022 RA-Lโ€”
2021Talk2Nav: Long-Range Vision-and-Language Navigation with Dual Attention and Spatial Memory2021 IJCVโ€”
2020Room-across-room: Multilingual vision-and-language navigation with dense spatiotemporal grounding2020 arXivโ€”
2018Vision-and-language navigation: Interpreting visually-grounded navigation instructions in real environments2018 CVPRโ€”

Towards More Continuous Control

YearPaperVenueResources
2026FreqCache: Accelerating Embodied VLN Models with Adaptive Frequency-Guided Token Caching2026 arXivโ€”
2026LiveVLN: Breaking the Stop-and-Go Loop in Vision-Language Navigation2026 arXivCode
2026VLN-Cache: Enabling Token Caching for VLN Models with Visual/Semantic Dynamics Awareness2026 arXivโ€”
2026AutoFly: Vision-Language-Action Model for UAV Autonomous Navigation in the Wild2026 arXivโ€”
2025Embodied Navigation Foundation Model2025 arXivProject
2022Bridging the gap between learning in discrete and continuous environments for vision-and-language navigation2022 CVPRโ€”
2021Hierarchical cross-modal agent for robotics vision-and-language navigation2021 ICRACode

๐Ÿง  Context Modeling

Context Perception

Spatial Perception

YearPaperVenueResources
2026AdaGeoVLN: Selective Geometry Across Representation Depth and Navigation Time for Vision-Language Navigation2026 arXivProject
2026GA-VLN: Geometry-Aware BEV Representation for Efficient Vision-Language Navigation2026 arXivCode
2026What Limits Vision-and-Language Navigation ?2026 arXivProject Code
2026SpaAct: Spatially-Activated Transition Learning with Curriculum Adaptation for Vision-Language Navigation2026 arXivโ€”
2026GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology2026 arXivโ€”
2026Instruction-as-State: Environment-Guided and State-Conditioned Semantic Understanding for Embodied Navigation2026 arXivโ€”
2026DyGeoVLN: Infusing Dynamic Geometry Foundation Model into Vision-Language Navigation2026 arXivโ€”
2026SPAN-Nav: Generalized Spatial Awareness for Versatile Vision-Language Navigation2026 arXivโ€”
2026Spatial-VLN: Zero-Shot Vision-and-Language Navigation With Explicit Spatial Perception and Exploration2026 arXivโ€”
2026JanusVLN: Decoupling Semantics and Spatiality with Dual Implicit Memory for Vision-Language Navigation2026 ICLRProject Code
2025Efficient-VLN: A Training-Efficient Vision-Language Navigation Model2025 arXivProject
2025MG-Nav: Dual-Scale Visual Navigation via Sparse Spatial Memory2025 arXivโ€”
2024NaVid: Video-based VLM Plans the Next Step for Vision-and-Language Navigation2024 RSSCode

Temporal Perception

YearPaperVenueResources
2026ActiveVLN: Towards Active Exploration via Multi-Turn RL in Vision-and-Language Navigation2026 ICRACode
2026StreamVLN: Streaming Vision-and-Language Navigation via SlowFast Context Modeling2026 ICRACode Data
2025NaVILA: Legged Robot Vision-Language-Action Model for Navigation2025 RSSCode Bench
2021VLN-BERT: A Recurrent Vision-and-Language BERT for Navigation2021 CVPRCode

Context Memory

Memory Representation

YearPaperVenueResources
2026MemVLN: Episodic and Procedural Memory for Vision-and-Language Navigation2026 arXivโ€”
2026LASAR: Towards Spatio-temporal Reasoning with Latent Cognitive Map2026 CVPRCode
2026Explore Like Humans: Autonomous Exploration with Online SG-Memo Construction for Embodied Agents2026 arXivโ€”
2026Hypothesis Graph Refinement: Hypothesis-Driven Exploration with Cascade Error Correction for Embodied Navigation2026 arXivโ€”
2026HiMemVLN: Enhancing Reliability of Open-Source Zero-Shot Vision-and-Language Navigation with Hierarchical Memory System2026 arXivโ€”
2026HaltNav: Reactive Visual Halting over Lightweight Topological Priors for Robust Vision-Language Navigation2026 arXivโ€”
2026GSMem: 3D Gaussian Splatting as Persistent Spatial Memory for Zero-Shot Embodied Exploration and Reasoning2026 arXivโ€”
2026Structured Observation Language for Efficient and Generalizable Vision-Language Navigation2026 arXivโ€”
2025Open-Nav: Exploring Zero-Shot Vision-and-Language Navigation in Continuous Environment with Open-Source LLMs2025 ICRACode
2025MapNav: A Novel Memory Representation via Annotated Semantic Maps for VLM-based Vision-and-Language Navigation2025 ACLโ€”
2024MapGPT: Map-Guided Prompting with Adaptive Path Planning for Vision-and-Language Navigation2024 ACLCode
2022BEVBert: Multimodal Map Pre-training for Language-guided Navigation2022 arXivโ€”
2021Structured Scene Memory for Vision-Language Navigation2021 CVPRCode

Memory Retrieval and Utilization

YearPaperVenueResources
2026LookStep: Efficient Vision-Language Navigation with Linguistic Foresight and Event Driven Memory2026 EMNLPCode
2026Dual-Anchoring: Addressing State Drift in Vision-Language Navigation2026 arXivโ€”
2026Beyond Textual Knowledge-Leveraging Multimodal Knowledge Bases for Enhancing Vision-and-Language Navigation2026 arXivโ€”
2026CMMR-VLN: Vision-and-Language Navigation via Continual Multimodal Memory Retrieval2026 arXivโ€”
2026One Agent to Guide Them All: Empowering MLLMs for Vision-and-Language Navigation via Explicit World Representation2026 arXivโ€”
2026SpatialNav: Leveraging Spatial Scene Graphs for Zero-Shot Vision-and-Language Navigation2026 arXivโ€”
2025Dream to Recall: Imagination-Guided Experience Retrieval for Memory-Persistent Vision-and-Language Navigation2025 arXivโ€”
2025FSR-VLN: Fast and Slow Reasoning for Vision-Language Navigation with Hierarchical Multi-modal Scene Graph2025 arXivโ€”
2025OpenIN: Open-Vocabulary Instance-Oriented Navigation in Dynamic Domestic Environments2025 RA-Lโ€”
2024OrionNav: Online Planning for Robot Autonomy with Context-Aware LLM and Open-Vocabulary Semantic Scene Graphs2024 arXivโ€”

Context Efficiency

Reducing Temporal Redundancy

YearPaperVenueResources
2026DecoVLN: Decoupling Observation, Reasoning, and Correction for Vision-and-Language Navigation2026 arXivโ€”
2025RANGER: A Monocular Zero-Shot Semantic Navigation Framework through Contextual Adaptation2025 arXivโ€”
2025C-NAV: Towards self-evolving continual object navigation in open world2025 arXivโ€”
2025AstraNav-Memory: Contexts Compression for Long Memory2025 arXivโ€”
2025COSMO: Combination of Selective Memorization for Low-cost Vision-and-Language Navigation2025 ICCVโ€”

Reducing Spatial Redundancy

YearPaperVenueResources
2026Structured Observation Language for Efficient and Generalizable Vision-Language Navigation2026 arXivโ€”
2025Embodied Navigation Foundation Model2025 arXivProject
2025Uni-NaVid: A Video-based Vision-Language-Action Model for Unifying Embodied Navigation Tasks2025 RSSCode

Computational Reuse and Acceleration

YearPaperVenueResources
2026FreqCache: Accelerating Embodied VLN Models with Adaptive Frequency-Guided Token Caching2026 arXivโ€”
2026VLN-Cache: Enabling Token Caching for VLN Models with Visual/Semantic Dynamics Awareness2026 arXivโ€”
2026History-Conditioned Spatio-Temporal Visual Token Pruning for Efficient Vision-Language Navigation2026 arXivโ€”

๐Ÿ”ฎ Imaginative Prediction

Spatial Imagination

Occupancy Prediction

YearPaperVenueResources
2026SPAN-Nav: Generalized Spatial Awareness for Versatile Vision-Language Navigation2026 arXivCode
2026SparseOccVLA: Bridging Occupancy and Vision-Language Models via Sparse Queries for Unified 4D Scene Understanding and Planning2026 arXivโ€”
2026SparseWorld: A Flexible, Adaptive, and Efficient 4D Occupancy World Model Powered by Sparse and Dynamic Queries2026 AAAIProject Code
2025Occ-llm: Enhancing autonomous driving with occupancy-based large language models2025 ICRAโ€”
2024Occllama: An Occupancy-Language-Action Generative World Model for Autonomous Driving2024 arXivโ€”
2023PEANUT: Predicting and Navigating to Unseen Targets2023 ICCVCode

View Completion

YearPaperVenueResources
2026MapDream: Task-Driven Map Learning for Vision-Language Navigation2026 arXivโ€”
2026MonoDream: Monocular Vision-Language Navigation with Panoramic Dreaming2026 AAAIProject
2025PanoGen++: Domain-Adapted Text-Guided Panoramic Environment Generation for Vision-and-Language Navigation2025 Neural Networksโ€”
2024Imagine Before Go: Self-Supervised Generative Map for Object Goal Navigation2024 CVPRCode
2023PanoGen: Text-Conditioned Panoramic Environment Generation for Vision-and-Language Navigation2023 NeurIPSCode

3D Representation

YearPaperVenueResources
2026GSMem: 3D Gaussian Splatting as Persistent Spatial Memory for Zero-Shot Embodied Exploration and Reasoning2026 arXivโ€”
2026ThinkMatter: Panoramic-Aware Instructional Semantics for Monocular Vision-and-Language Navigation2026 TIPโ€”
2025monoVLN: Bridging the Observation Gap between Monocular and Panoramic Vision and Language Navigation2025 ICCVโ€”
2024UnitedVLN: Generalizable Gaussian Splatting for Continuous Vision-Language Navigation2024 arXivโ€”

Temporal Imagination

Pixel Level

YearPaperVenueResources
2026WNM-3D: A World Navigation Model with 3D Scene Conditioning for Closed-Loop VLN2026 arXivโ€”
2026NavDreamer: Video Models as Zero-Shot 3D Navigators2026 arXivโ€”
2026Sparse Video Generation Propels Real-World Beyond-the-View Vision-Language Navigation2026 arXivCode
2025AstraNav-World: World Model for Foresight Control and Consistency2025 arXivโ€”
2025VISTAv2: World Imagination for Indoor Vision-and-Language Navigation2025 arXivโ€”
2025DreamNav: A Trajectory-Based Imaginative Framework for Zero-Shot Vision-and-Language Navigation2025 arXivโ€”
2025VISTA: Generative Visual Imagination for Vision-and-Language Navigation2025 arXivโ€”
2025Navigation World Models2025 CVPRโ€”
2025Do Visual Imaginations Improve Vision-and-Language Navigation Agents?2025 CVPRโ€”
2021PathDreamer: A World Model for Indoor Navigation2021 ICCVโ€”

Feature Level

YearPaperVenueResources
2026Towards Dual-Brain Minimal Sufficient Representation for Vision-Language Navigation2026 arXivโ€”
2026NavWM: A Unified Navigation World Model for Foresight-Driven Planning2026 ECCVโ€”
2026WAM-Nav: Asymmetric Latent World-Action Modeling for Unified Visual Navigation2026 arXivโ€”
2026WorldVLN: Autoregressive World Action Model for Aerial Vision-Language Navigation2026 arXivProject Code
2026LatentPilot: Scene-Aware Vision-and-Language Navigation by Dreaming Ahead with Latent Visual Reasoning2026 arXivProject Code
2026PROSPECT: Unified Streaming Vision-Language Navigation via Semantic-Spatial Fusion and Latent Predictive Representation2026 arXivโ€”
2026FantasyVLN: Unified Multimodal Chain-of-Thought Reasoning for Vision-Language Navigation2026 arXivProject Code
2026MonoDream: Monocular Vision-Language Navigation with Panoramic Dreaming2026 AAAIProject
2025NavForesee: A Unified Vision-Language World Model for Hierarchical Planning and Dual-Horizon Navigation Prediction2025 arXivโ€”
2025NavMorph: A Self-Evolving World Model for Vision-and-Language Navigation in Continuous Environments2025 NeurlPSCode

Inverse Dynamics Modeling and Causality

Inverse Dynamics

YearPaperVenueResources
2026FutureNav: Unified World-Action Modeling for Vision-and-Language Navigation2026 arXivCode Project
2026SpaAct: Spatially-Activated Transition Learning with Curriculum Adaptation for Vision-Language Navigation2026 arXivโ€”
2026Sparse Video Generation Propels Real-World Beyond-the-View Vision-Language Navigation2026 arXivCode
2026LatentPilot: Scene-Aware Vision-and-Language Navigation by Dreaming Ahead with Latent Visual Reasoning2026 arXivCode Project
2026ImagiNav: Scalable Embodied Navigation via Generative Visual Prediction and Inverse Dynamics2026 arXivโ€”
2026NaVIDA: Vision-Language Navigation with Inverse Dynamics Augmentation2026 arXivCode

Causal Learning

YearPaperVenueResources
2025CAST: Counterfactual Labels Improve Instruction Following in Vision-Language-Action Models2025 arXivCode Data
2025CVLN-Think: Causal Inference with Counterfactual Style Adaptation for Continuous Vision-and-Language Navigation2025 IROSโ€”
2024Causality-based cross-modal representation learning for vision-and-language navigation2024 arXivโ€”
2024Vision-and-Language Navigation via Causal Learning2024 CVPRCode
2022Counterfactual Cycle-Consistent Learning for Instruction Following and Generation in Vision-Language Navigation2022 CVPRCode

๐ŸŽฏ Decision Planning

Structured Decision

Instruction Decomposition

YearPaperVenueResources
2025GC-VLN: Instruction as graph constraints for training-free vision-and-language navigation2025 arXivโ€”
2025Constraint-aware zero-shot vision-language navigation in continuous environments2025 TPAMIโ€”
2024Boosting efficient reinforcement learning for vision-and-language navigation with open-sourced llm2024 RA-Lโ€”

Sub-Goal Formulation

YearPaperVenueResources
2026Traj-VLN: Learning Pixel-Space Interaction via Autoregressive Trajectory Generation2026 arXivโ€”
2026Goal2Pixel: Grounding Goals to Pixels for Vision-Language Navigation2026 arXivProject
2026Ground Slow, Move Fast: A Dual-System Foundation Model for Generalizable Vision-and-Language Navigation2026 ICLRProject Code
2025Landmark-Guided Knowledge for Vision-and-Language Navigation2025 ICICโ€”
2025SmartWay: Enhanced Waypoint Prediction and Backtracking for Zero-Shot Vision-and-Language Navigation2025 IROSโ€”
2025Affordances-oriented planning using foundation models for continuous vision-language navigation2025 AAAIProject
2025Hierarchical semantic-augmented navigation: Optimal transport and graph-driven reasoning for vision-language navigation2025 NeurIPSโ€”
2023GridMM: Grid Memory Map for Vision-and-Language Navigation2023 ICCVCode
YearPaperVenueResources
2026From Routes to Steps: Separating Semantic Progress from Local Execution in Vision-and-Language Navigation2026 arXivProject
2025Progress-Think: Semantic Progress Reasoning for Vision-Language Navigation2025 arXivโ€”
2024PASTS: Progress-Aware Spatio-Temporal Transformer Speaker for Vision-and-Language Navigation2024 EAAIโ€”
2022One step at a time: Long-horizon vision-and-language navigation with milestones2022 CVPRโ€”
2020Vision-Language Navigation with Self-Supervised Auxiliary Reasoning Tasks2020 CVPRโ€”
2019The regretful agent: Heuristic-aided navigation through progress estimation2019 CVPRCode
2019Self-monitoring navigation agent via auxiliary progress estimation2019 ICLRCode

Reasoning-based Decision

LLM as External Reasoner

YearPaperVenueResources
2026Stop Wandering: Efficient Vision-Language Navigation via Metacognitive Reasoning2026 arXivโ€”
2026TagaVLM: Topology-Aware Global Action Reasoning for Vision-Language Navigation2026 arXivโ€”
2026ReasonNavi: Human-Inspired Global Map Reasoning for Zero-Shot Embodied Navigation2026 arXivProject
2026DV-VLN: Dual Verification for Reliable LLM-Based Vision-and-Language Navigation2026 arXivโ€”
2026Towards Open Environments and Instructions: General Vision-Language Navigation via Fast-Slow Interactive Reasoning2026 arXivโ€”
2025GeoNav: Empowering MLLMs with Explicit Geospatial Reasoning Abilities for Language-Goal Aerial Navigation2025 arXivโ€”
2025SpatialGPT: Zero-Shot Vision-and-Language Navigation via Spatial CoT over Structured Spatial Memory2025 SIGSPATIALโ€”
2024End-to-end navigation with vision language models: Transforming spatial reasoning into question-answering2024 arXivโ€”
2024NavGPT-2: Unleashing Navigational Reasoning Capability for Large Vision-Language Models2024 ECCVCode Data Instruct
2024InstructNav: Zero-Shot System for Generic Instruction Navigation in Unexplored Environment2024 arXivCode
2024NavGPT: Explicit Reasoning in Vision-and-Language Navigation with Large Language Models2024 AAAICode

Integrated Perception-Reasoning-Action Model

YearPaperVenueResources
2026GroundingVLN: Reasoning and Acting with Grounding for Vision-Language Navigation2026 arXivโ€”
2026MobileVLA-R1 2.0: RL-Enhanced Reasoning for Mobile Robot Control2026 arXivProject Code
2026ReflectVLN: Training Vision-Language Navigation Agents with Reflective Reasoning2026 arXivCode
2026AwareVLN: Reasoning with Self-awareness for Vision-Language Navigation2026 CVPRProject Code
2026A Deployable Embodied Vision-Language Navigation System with Hierarchical Cognition and Context-Aware Exploration2026 arXivโ€”
2026AsyncShield: A Plug-and-Play Edge Adapter for Asynchronous Cloud-based VLA Navigation2026 arXivโ€”
2026AURA: Multimodal Shared Autonomy for Real-World Urban Navigation2026 arXivโ€”
2026HiRO-Nav: Hybrid Reasoning Enables Efficient Embodied Navigation2026 arXivโ€”
2026AgentVLN: Towards Agentic Vision-and-Language Navigation2026 arXivCode
2026EmergeNav: Structured Embodied Inference for Zero-Shot Vision-and-Language Navigation in Continuous Environments2026 arXivโ€”
2026ABot-N0: Technical Report on the VLA Foundation Model for Versatile Embodied Navigation2026 arXivโ€”
2026VLingNav: Embodied Navigation with Adaptive Reasoning and Visual-Assisted Linguistic Memory2026 arXivโ€”
2025D3D-VLP: Dynamic 3D Vision-Language-Planning Model for Embodied Grounding and Navigation2025 arXivโ€”
2025MobileVLA-R1: Reinforcing Vision-Language-Action for Mobile Robots2025 arXivProject Code
2025CompassNav: Steering from Path Imitation to Decision Understanding in Navigation2025 arXivโ€”
2025AdaNav: Adaptive Reasoning with Uncertainty for Vision-Language Navigation2025 arXivCode
2025Nav-r1: Reasoning and navigation in embodied scenes2025 arXivProject Code
2025OctoNav: Towards Generalist Embodied Navigation2025 arXivโ€”
2025Aux-Think: Exploring Reasoning Strategies for Data-Efficient Vision-Language Navigation2025 NeurlPSProject Data
2025NavCoT: Boosting LLM-based Vision-and-Language Navigation via Learning Disentangled Reasoning2025 TPAMIโ€”

Predictive Reasoning Model

YearPaperVenueResources
2026FantasyVLN: Unified Multimodal Chain-of-Thought Reasoning for Vision-Language Navigation2026 arXivProject Code
2025NavForesee: A Unified Vision-Language World Model for Hierarchical Planning and Dual-Horizon Navigation Prediction2025 arXivโ€”
2026WorldMAP: Bootstrapping Vision-Language Navigation Trajectory Prediction with Generative World Models2026 arXivโ€”
2025ImagineNav++: Prompting Vision-Language Models as Embodied Navigator through Scene Imagination2025 arXivโ€”

Hierarchical Decision

High-Level System

YearPaperVenueResources
2026LookasideVLN: Direction-Aware Aerial Vision-and-Language Navigation2026 arXivโ€”
2026HTNav: A Hybrid Navigation Framework with Tiered Structure for Urban Aerial Vision-and-Language Navigation2026 arXivโ€”
2026FloorPlan-VLN: A New Paradigm for Floor Plan Guided Vision-Language Navigation2026 arXivโ€”
2026OpenFrontier: General Navigation with Visual-Language Grounded Frontiers2026 arXivโ€”
2024VLFM: Vision-Language Frontier Maps for Zero-Shot Semantic Navigation2024 ICRAโ€”
2024ETPNav: Evolving Topological Planning for Vision-Language Navigation in Continuous Environments2024 TPAMIโ€”
2022Think Global, Act Local: Dual-Scale Graph Transformer for Vision-and-Language Navigation2022 CVPRโ€”

Low-Level System

YearPaperVenueResources
2026X-NavDP: Generalizing Navigation Diffusion Policy to Novel Behavior and Embodiments with Group Q-score Reweighted Matching2026 arXivProject Code
2026WAM-Nav: Asymmetric Latent World-Action Modeling for Unified Visual Navigation2026 arXivโ€”
2026NavDP: Learning sim-to-real navigation diffusion policy with privileged information guidance2026 ICRACode
2025LoGoPlanner: Localization Grounded Navigation Policy with Metric-aware Visual Geometry2025 arXivProject
2024NoMaD: Goal Masked Diffusion Policies for Navigation and Exploration2024 ICRACode
2024ViPlanner: Visual Semantic Imperative Learning for Local Navigation2024 ICRACode
2023iPlanner: Imperative Path Planning2023 arXivCode
2022Learning Forward Dynamics Model and Informed Trajectory Sampler for Safe Quadruped Navigation2022 RSSโ€”
2020DD-PPO: Learning Near-Perfect PointGoal Navigators from 2.5 Billion Frames2020 ICLRโ€”

Hybrid Architecture

YearPaperVenueResources
2026Token-Wise Latent Streaming from Slow Reasoners to Fast Planners for Dynamic Vision Language Navigation2026 arXivProject
2026SEDualVLN: A Spatially-Enhanced Dual-System for Vision-Language Navigation2026 arXivProject Code
2026FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation2026 arXivProject
2026TIC-VLA: A Think-in-Control Vision-Language-Action Model for Robot Navigation in Dynamic Environments2026 arXivโ€”
2026Ground Slow, Move Fast: A Dual-System Foundation Model for Generalizable Vision-and-Language Navigation2026 ICLRProject Code
2026OmniNav: A Unified Framework for Prospective Exploration and Visual-Language Navigation2026 ICLRProject Code
2025LaViRA: Language-Vision-Robot Actions Translation for Zero-Shot Vision Language Navigation in Continuous Environments2025 arXivโ€”
2025Breaking down and building up: Mixture of skill-based vision-and-language navigation agents2025 arXivโ€”
2025FlexVLN: Flexible Adaptation for Diverse Vision-and-Language Navigation Tasks2025 arXivโ€”
2025InternVLA-N1: An Open Dual-System Navigation Foundation Model with Learned Latent Plans2025 arXivโ€”

โš ๏ธ Reflection from Error

Sources and Taxonomy of Errors in VLN

Instruction Errors

YearPaperVenueResources
2026VLN-NF: Feasibility-Aware Vision-and-Language Navigation with False-Premise Instructions2026 arXivProject
2024Mind the error! detection and localization of instruction errors in vision-and-language navigation2024 IROSProject Code

Perceptual Errors

  • Covered by papers already listed above.

Planning and Decision Errors

YearPaperVenueResources
2026Where Did It Go Wrong? Capability-Oriented Failure Attribution for Vision-and-Language Navigation Agents2026 arXivโ€”

Error Prevention

Prevent Instruction Errors

YearPaperVenueResources
2025Seeing with Partial Certainty: Conformal Prediction for Robotic Scene Recognition in Built Environments2025 arXivโ€”
2025Collaborative Instance Object Navigation: Leveraging Uncertainty-Awareness to Minimize Human-Agent Dialogues2025 ICCVProject Code Data
2024I2EDL: Interactive Instruction Error Detection and Localization2024 RO-MANโ€”

Prevent Perception Errors

  • Covered by papers already listed above.

Prevent Planning and Decision Errors

YearPaperVenueResources
2026SeqWalker: Sequential-Horizon Vision-and-Language Navigation with Hierarchical Planning2026 arXivโ€”
2026EvolveNav: Empowering LLM-Based Vision-Language Navigation via Self-Improving Embodied Reasoning2026 TPAMICode

Learn From Error

Distribution Alignment

YearPaperVenueResources
2024Vision-Language Navigation with Energy-Based Policy2024 NeurIPSโ€”

DAgger-based

YearPaperVenueResources
2026Joint On-and-Off Policy Learning for Vision-and-Language Navigation2026 arXivProject
2026Path-level Hindsight Instructions for Semantic Exploration in Vision-Language Navigation2026 ECCVโ€”
2026GN0: Toward a Unified Paradigm for Generation, Evaluation, and Policy Learning in Visual-Language Navigation2026 arXivProject Code Model
2026LatentPilot: Scene-Aware Vision-and-Language Navigation by Dreaming Ahead with Latent Visual Reasoning2026 arXivProject Code
2025Efficient-VLN: A Training-Efficient Vision-Language Navigation Model2025 arXivProject
2025CorrectNav: Self-Correction Flywheel Empowers Vision-Language-Action Navigation Model2025 arXivProject
2025DAgger Diffusion Navigation: DAgger Boosted Diffusion Policy for Vision-Language Navigation2025 arXivโ€”

Exploration-based

YearPaperVenueResources
2026The Essence of Balance for Self-Improving Agents in Vision-and-Language Navigation2026 arXivโ€”
2026Let's Reward Step-by-Step: Step-Aware Contrastive Alignment for Vision-Language Navigation in Continuous Environments2026 arXivCode
2026Trajectory-Diversity-Driven Robust Vision-and-Language Navigation2026 arXivโ€”
2026Nipping the Drift in the Bud: Retrospective Rectification for Robust Vision-Language Navigation2026 arXivโ€”
2026ActiveVLN: Towards Active Exploration via Multi-Turn RL in Vision-and-Language Navigation2026 ICRACode
2025SeeNav-Agent: Enhancing Vision-Language Navigation with Visual Prompt and Step-Level Policy Optimization2025 arXivCode Model

Test-time Adaptation & Self Correstion

YearPaperVenueResources
2026SC2-WM: A Self-Correcting World Model with Closed-Loop Feedback for Vision-and-Language Navigation in Continuous Environments2026 ICMLCode
2026No Training, Better Flights: Test-Time Scaled VLMs for UAV Navigation2026 arXivโ€”
2026Turning Adaptation into Assets: Cross-Domain Bridging for Online Vision-Language Navigation2026 ICMLโ€”
2025Active Test-time Vision-Language Navigation2025 arXivโ€”
2025Test-Time Adaptation for Online Vision-Language Navigation with Feedback-based Reinforcement Learning2025 ICMLโ€”
2023Fast-slow test-time adaptation for online vision-and-language navigation2023 arXivCode

๐ŸŒ Broader Navigation Literature

Surveys and Evaluation

YearPaperVenueResources
2026A Comprehensive Survey and Systematic Real-World Evaluation of Embodied Vision-and-Language Navigation2026 IEEE TASEโ€”
2026A comprehensive review of recent advancements in vision-and-language navigation2026 Discover Computingโ€”
2026Robot Navigation via Foundation Language Models: A Review2026 ACM Computing Surveysโ€”
2026Vision-Language Navigation for Aerial Robots: Towards the Era of Large Language Models2026 arXivโ€”
2026Vision-and-Language Navigation for UAVs: Progress, Challenges, and a Research Roadmap2026 arXivโ€”
2026Mini-BEHAVIOR-Gran: Revealing U-Shaped Effects of Instruction Granularity on Language-Guided Embodied Agents2026 arXivโ€”
2026NavTrust: Benchmarking Trustworthiness for Embodied Navigation2026 arXivProject
2024Vision-and-language navigation today and tomorrow: A survey in the era of foundation models2024 TMLRCode
2024Vision-language navigation: a survey and taxonomy2024 Neural Computing and Applicationsโ€”
2023Advances in embodied navigation using large language models: A survey2023 arXivโ€”
2023A2Nav: Action-Aware Zero-Shot Robot Navigation by Exploiting Vision-and-Language Ability of Foundation Models2023 arXivโ€”
2023Visual language navigation: A survey and open challenges2023 Artificial Intelligence Reviewโ€”
2022Vision-and-language navigation: A survey of tasks, methods, and future directions2022 ACLCode
2019General evaluation for instruction conditioned navigation using dynamic time warping2019 arXivโ€”
2018On evaluation of embodied navigation agents2018 arXivโ€”

General Navigation and Object Navigation

YearPaperVenueResources
2026Scaffolding Foundation Models into Physical-World Agents Pushes the Frontier of Long-Horizon Navigation2026 arXivโ€”
2026LightNav-0: Eliciting VLM Spatial Intelligence for Generalist Embodied Navigation2026 arXivProject Code
2026VoLN: Vision-Only Long-Horizon Navigation---Paradigm, Benchmark, and Method2026 arXivProject Code Data
2026ABot-N1: Toward a General Visual Language Navigation Foundation Model2026 arXivProject
2026Qwen-RobotNav: A Scalable Navigation Model Designed for an Agentic Navigation System2026 arXivProject
2026GN0: Toward a Unified Paradigm for Generation, Evaluation, and Policy Learning in Visual-Language Navigation2026 arXivProject Code Model
2026R2F: Repurposing Ray Frontiers for LLM-free Object Navigation2026 arXivโ€”
2026Hydra-Nav: Object Navigation via Adaptive Dual-Process Reasoning2026 arXivโ€”
2026MerNav: A Highly Generalizable Memory-Execute-Review Framework for Zero-Shot Object Goal Navigation2026 arXivโ€”
2025RANGER: A Monocular Zero-Shot Semantic Navigation Framework through Contextual Adaptation2025 arXivโ€”
2025SocialNav-Map: Dynamic Mapping with Human Trajectory Prediction for Zero-Shot Social Navigation2025 arXivCode
2025NavSpace: How Navigation Agents Follow Spatial Intelligence Instructions2025 arXivCode
2025C-NAV: Towards self-evolving continual object navigation in open world2025 arXivโ€”
20253D-Mem: 3D Scene Memory for Embodied Exploration and Reasoning2025 arXivโ€”
2024TopV-Nav: Unlocking the top-view spatial reasoning potential of MLLM for zero-shot object navigation2024 arXivโ€”
2023ViNT: A foundation model for visual navigation2023 arXivProject Code
2022GNM: A general navigation model to drive any robot2022 arXivCode

Embodied / VLA Context

YearPaperVenueResources
2025MemoryVLA: Perceptual-Cognitive Memory in Vision-Language-Action Models for Robotic Manipulation2025 arXivโ€”
2024ฯ€0: A Vision-Language-Action Flow Model for General Robot Control2024 arXivโ€”
2024OpenVLA: An Open-Source Vision-Language-Action Model2024 arXivProject Code

Policies, Efficiency, and Applied Navigation

YearPaperVenueResources
2026Embodied Agents Take Control: Minimal-Interface Zero-Shot Agents Rival Industrial-Scale Policies in Vision-and-Language Navigation2026 arXivโ€”
2026P3Nav: End-to-End Perception, Prediction and Planning for Vision-and-Language Navigation2026 arXivโ€”
2026Beyond Imitation: Reinforcement Learning Fine-Tuning for Adaptive Diffusion Navigation Policies2026 arXivโ€”
2026NavDP: Learning sim-to-real navigation diffusion policy with privileged information guidance2026 ICRACode
2025Nav-EE: Navigation-Guided Early Exiting for Efficient Vision-Language Models in Autonomous Driving2025 arXivโ€”
2025OmniVLA: An omni-modal vision-language-action model for robot navigation2025 arXivProject Code
2025EgoPrune: Efficient token pruning for egomotion video reasoning in embodied agent2025 arXivโ€”

๐Ÿš€ Future Directions

Representative outlook papers explicitly discussed in the manuscript are listed below.

Toward Action-Aware Policies

  • Action grounding beyond static image-text reasoning.

Toward Visual Predictive CoT

  • Reasoning grounded in predicted visual futures.

Towards Unified Visual Geometry Navigation Model

  • Tighter coupling between geometry and policy learning.

Towards Dynamic Environment

YearPaperVenueResources
2026Walk With Me: Long-Horizon Social Navigation for Human-Centric Outdoor Assistance2026 arXivโ€”
2025HA-VLN: A Benchmark for Human-Aware Navigation in Discrete-Continuous Environments with Dynamic Multi-Human Interactions, Real-World Validation, and an Open Leaderboard2025 arXivCode
2025From Cognition to Precognition: A Future-Aware Framework for Social Navigation2025 ICRAโ€”
2025VLN-ChEnv: Vision-language Navigation in Changeable Environments2025 ACM MMโ€”
2024VLM-Social-Nav: Socially Aware Robot Navigation through Scoring using Vision-Language Models2024 RA-LProject

Towards Collaborative VLN

YearPaperVenueResources
2026Benchmarking Interaction, Beyond Policy: a Reproducible Benchmark for Collaborative Instance Object Navigation2026 arXivโ€”
2026DeCoNav: Dialog enhanced Long-Horizon Collaborative Vision-Language Navigation2026 arXivโ€”
2026MA-CoNav: A Master-Slave Multi-Agent Framework with Hierarchical Collaboration and Dual-Level Reflection for Long-Horizon Embodied VLN2026 arXivโ€”
2026FSUNav: A Cerebrum-Cerebellum Architecture for Fast, Safe, and Universal Zero-Shot Goal-Oriented Navigation2026 arXivโ€”
2026CA-VLN: Collaborative Agents in MLLM-Powered Visual-Language Navigation2026 Sensorsโ€”
2025Enhancing Multi-Robot Semantic Navigation through Multimodal Chain-of-Thought Score Collaboration2025 AAAIโ€”
2023Co-NavGPT: Multi-Robot Cooperative Visual Semantic Navigation Using Vision Language Models2023 arXivโ€”

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๐Ÿงญ Awesome Visual Language Navigation

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๐ŸŒŸ Overview

๐Ÿ“š Preliminaries

Simulation, Data and Control

Toward More Realistic Simulation

YearPaperVenueResources
2026Image2Sim: Scaling Embodied Navigation via Generative Neural Simulator2026 arXivCode Data
2026Habitat-GS: A High-Fidelity Navigation Simulator with Dynamic Gaussian Splatting2026 arXivProject Code
2026NavGSim: High-Fidelity Gaussian Splatting Simulator for Large-Scale Navigation2026 ICRACode
2025VLNVerse: A Benchmark for Vision-Language Navigation with Versatile, Embodied, Realistic Simulation and Evaluation2025 arXivProject Code
2025Towards Physically Executable 3D Gaussian for Embodied Navigation2025 arXivโ€”
2025Rethinking the embodied gap in vision-and-language navigation: A holistic study of physical and visual disparities2025 ICCVProject Code
2023Habitat 3.0: A co-habitat for humans, avatars and robots2023 arXivโ€”
2021Habitat-Matterport 3D Dataset (HM3D): 1000 Large-scale 3D Environments for Embodied AI2021 NeurIPS D&Bโ€”
2020Beyond the nav-graph: Vision-and-language navigation in continuous environments2020 ECCVโ€”
2019PyRobot: An Open-source Robotics Framework for Research and Benchmarking2019 arXivCode
2019Habitat: A Platform for Embodied AI Research2019 ICCVCode
2018Gibson env: Real-world perception for embodied agents2018 CVPRโ€”
2017AI2-THOR: An Interactive 3D Environment for Visual AI2017 arXivProject
2017Matterport3D: Learning from RGB-D Data in Indoor Environments2017 3DVCode

Towards More Diverse Datasets&Benchmarks

YearPaperVenueResources
2026HumanoidVLN: A Physics-Grounded Simulator and Benchmark for Vision-Language Navigation Across Diverse Humanoid Embodiments2026 arXivProject
2026DaViNCi: A Dataset Towards Outdoor Vision-and-Language Navigation with Continuous Actions and Dynamic Elements2026 arXivProject
2026Beyond Isolation: A Unified Benchmark for General-Purpose Navigation2026 RSSProject Code
2026MiniVLA-Nav v1: A Multi-Scene Simulation Dataset for Language-Conditioned Robot Navigation2026 arXivโ€”
2026Explore with Long-term Memory: A Benchmark and Multimodal LLM-based Reinforcement Learning Framework for Embodied Exploration2026 arXivโ€”
2026CoNavBench: Collaborative Long-Horizon Vision-Language Navigation Benchmark2026 ICLRProject
2026Rule-VLN: Bridging Perception and Compliance via Semantic Reasoning and Geometric Rectification2026 arXivโ€”
2026AirNav: A Large-Scale Real-World UAV Vision-and-Language Navigation Dataset with Natural and Diverse Instructions2026 arXivโ€”
2025IndoorUAV: Benchmarking Vision-Language UAV Navigation in Continuous Indoor Environments2025 arXivโ€”
2025VL-LN Bench: Towards Long-horizon Goal-oriented Navigation with Active Dialogs2025 arXivCode Data
2025OpenFly: A Comprehensive Platform for Aerial Vision-Language Navigation2025 arXivCode Data
2025Collaborative Instance Object Navigation: Leveraging Uncertainty-Awareness to Minimize Human-Agent Dialogues2025 ICCVProject Code Data
2025RoomTour3D: Geometry-Aware Video-Instruction Tuning for Embodied Navigation2025 CVPRCode Data
2025Towards long-horizon vision-language navigation: Platform, benchmark and method2025 CVPRCode
2025CityWalker: Learning Embodied Urban Navigation from Web-Scale Videos2025 CVPRCode Data
2025UrbanNav: Learning Language-Guided Urban Navigation from Web-Scale Human Trajectories2025 arXivCode
2025UAV-Flow Colosseo: A Real-World Benchmark for Flying-on-a-Word UAV Imitation Learning2025 arXivโ€”
2024Embodiedcity: A benchmark platform for embodied agent in real-world city environment2024 arXivCode
2024InstruGen: Automatic Instruction Generation for Vision-and-Language Navigation Via Large Multimodal Models2024 arXivCode
2024Towards realistic uav vision-language navigation: Platform, benchmark, and methodology2024 arXivProject Code Data
2024CityNav: Language-goal aerial navigation dataset with geographic information2024 arXivCode
2024Mind the error! detection and localization of instruction errors in vision-and-language navigation2024 IROSProject Code
2024Hazard challenge: Embodied decision making in dynamically changing environments2024 arXivProject
2023AerialVLN: Vision-and-Language Navigation for UAVs2023 ICCVCode
2023Iterative vision-and-language navigation2023 CVPRCode
2023Scaling Data Generation in Vision-and-Language Navigation2023 ICCVโ€”
2022REVE-CE: Remote Embodied Visual Referring Expression in Continuous Environment2022 RA-Lโ€”
2021Talk2Nav: Long-Range Vision-and-Language Navigation with Dual Attention and Spatial Memory2021 IJCVโ€”
2020Room-across-room: Multilingual vision-and-language navigation with dense spatiotemporal grounding2020 arXivโ€”
2018Vision-and-language navigation: Interpreting visually-grounded navigation instructions in real environments2018 CVPRโ€”

Towards More Continuous Control

YearPaperVenueResources
2026FreqCache: Accelerating Embodied VLN Models with Adaptive Frequency-Guided Token Caching2026 arXivโ€”
2026LiveVLN: Breaking the Stop-and-Go Loop in Vision-Language Navigation2026 arXivCode
2026VLN-Cache: Enabling Token Caching for VLN Models with Visual/Semantic Dynamics Awareness2026 arXivโ€”
2026AutoFly: Vision-Language-Action Model for UAV Autonomous Navigation in the Wild2026 arXivโ€”
2025Embodied Navigation Foundation Model2025 arXivProject
2022Bridging the gap between learning in discrete and continuous environments for vision-and-language navigation2022 CVPRโ€”
2021Hierarchical cross-modal agent for robotics vision-and-language navigation2021 ICRACode

๐Ÿง  Context Modeling

Context Perception

Spatial Perception

YearPaperVenueResources
2026AdaGeoVLN: Selective Geometry Across Representation Depth and Navigation Time for Vision-Language Navigation2026 arXivProject
2026GA-VLN: Geometry-Aware BEV Representation for Efficient Vision-Language Navigation2026 arXivCode
2026What Limits Vision-and-Language Navigation ?2026 arXivProject Code
2026SpaAct: Spatially-Activated Transition Learning with Curriculum Adaptation for Vision-Language Navigation2026 arXivโ€”
2026GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology2026 arXivโ€”
2026Instruction-as-State: Environment-Guided and State-Conditioned Semantic Understanding for Embodied Navigation2026 arXivโ€”
2026DyGeoVLN: Infusing Dynamic Geometry Foundation Model into Vision-Language Navigation2026 arXivโ€”
2026SPAN-Nav: Generalized Spatial Awareness for Versatile Vision-Language Navigation2026 arXivโ€”
2026Spatial-VLN: Zero-Shot Vision-and-Language Navigation With Explicit Spatial Perception and Exploration2026 arXivโ€”
2026JanusVLN: Decoupling Semantics and Spatiality with Dual Implicit Memory for Vision-Language Navigation2026 ICLRProject Code
2025Efficient-VLN: A Training-Efficient Vision-Language Navigation Model2025 arXivProject
2025MG-Nav: Dual-Scale Visual Navigation via Sparse Spatial Memory2025 arXivโ€”
2024NaVid: Video-based VLM Plans the Next Step for Vision-and-Language Navigation2024 RSSCode

Temporal Perception

YearPaperVenueResources
2026ActiveVLN: Towards Active Exploration via Multi-Turn RL in Vision-and-Language Navigation2026 ICRACode
2026StreamVLN: Streaming Vision-and-Language Navigation via SlowFast Context Modeling2026 ICRACode Data
2025NaVILA: Legged Robot Vision-Language-Action Model for Navigation2025 RSSCode Bench
2021VLN-BERT: A Recurrent Vision-and-Language BERT for Navigation2021 CVPRCode

Context Memory

Memory Representation

YearPaperVenueResources
2026MemVLN: Episodic and Procedural Memory for Vision-and-Language Navigation2026 arXivโ€”
2026LASAR: Towards Spatio-temporal Reasoning with Latent Cognitive Map2026 CVPRCode
2026Explore Like Humans: Autonomous Exploration with Online SG-Memo Construction for Embodied Agents2026 arXivโ€”
2026Hypothesis Graph Refinement: Hypothesis-Driven Exploration with Cascade Error Correction for Embodied Navigation2026 arXivโ€”
2026HiMemVLN: Enhancing Reliability of Open-Source Zero-Shot Vision-and-Language Navigation with Hierarchical Memory System2026 arXivโ€”
2026HaltNav: Reactive Visual Halting over Lightweight Topological Priors for Robust Vision-Language Navigation2026 arXivโ€”
2026GSMem: 3D Gaussian Splatting as Persistent Spatial Memory for Zero-Shot Embodied Exploration and Reasoning2026 arXivโ€”
2026Structured Observation Language for Efficient and Generalizable Vision-Language Navigation2026 arXivโ€”
2025Open-Nav: Exploring Zero-Shot Vision-and-Language Navigation in Continuous Environment with Open-Source LLMs2025 ICRACode
2025MapNav: A Novel Memory Representation via Annotated Semantic Maps for VLM-based Vision-and-Language Navigation2025 ACLโ€”
2024MapGPT: Map-Guided Prompting with Adaptive Path Planning for Vision-and-Language Navigation2024 ACLCode
2022BEVBert: Multimodal Map Pre-training for Language-guided Navigation2022 arXivโ€”
2021Structured Scene Memory for Vision-Language Navigation2021 CVPRCode

Memory Retrieval and Utilization

YearPaperVenueResources
2026LookStep: Efficient Vision-Language Navigation with Linguistic Foresight and Event Driven Memory2026 EMNLPCode
2026Dual-Anchoring: Addressing State Drift in Vision-Language Navigation2026 arXivโ€”
2026Beyond Textual Knowledge-Leveraging Multimodal Knowledge Bases for Enhancing Vision-and-Language Navigation2026 arXivโ€”
2026CMMR-VLN: Vision-and-Language Navigation via Continual Multimodal Memory Retrieval2026 arXivโ€”
2026One Agent to Guide Them All: Empowering MLLMs for Vision-and-Language Navigation via Explicit World Representation2026 arXivโ€”
2026SpatialNav: Leveraging Spatial Scene Graphs for Zero-Shot Vision-and-Language Navigation2026 arXivโ€”
2025Dream to Recall: Imagination-Guided Experience Retrieval for Memory-Persistent Vision-and-Language Navigation2025 arXivโ€”
2025FSR-VLN: Fast and Slow Reasoning for Vision-Language Navigation with Hierarchical Multi-modal Scene Graph2025 arXivโ€”
2025OpenIN: Open-Vocabulary Instance-Oriented Navigation in Dynamic Domestic Environments2025 RA-Lโ€”
2024OrionNav: Online Planning for Robot Autonomy with Context-Aware LLM and Open-Vocabulary Semantic Scene Graphs2024 arXivโ€”

Context Efficiency

Reducing Temporal Redundancy

YearPaperVenueResources
2026DecoVLN: Decoupling Observation, Reasoning, and Correction for Vision-and-Language Navigation2026 arXivโ€”
2025RANGER: A Monocular Zero-Shot Semantic Navigation Framework through Contextual Adaptation2025 arXivโ€”
2025C-NAV: Towards self-evolving continual object navigation in open world2025 arXivโ€”
2025AstraNav-Memory: Contexts Compression for Long Memory2025 arXivโ€”
2025COSMO: Combination of Selective Memorization for Low-cost Vision-and-Language Navigation2025 ICCVโ€”

Reducing Spatial Redundancy

YearPaperVenueResources
2026Structured Observation Language for Efficient and Generalizable Vision-Language Navigation2026 arXivโ€”
2025Embodied Navigation Foundation Model2025 arXivProject
2025Uni-NaVid: A Video-based Vision-Language-Action Model for Unifying Embodied Navigation Tasks2025 RSSCode

Computational Reuse and Acceleration

YearPaperVenueResources
2026FreqCache: Accelerating Embodied VLN Models with Adaptive Frequency-Guided Token Caching2026 arXivโ€”
2026VLN-Cache: Enabling Token Caching for VLN Models with Visual/Semantic Dynamics Awareness2026 arXivโ€”
2026History-Conditioned Spatio-Temporal Visual Token Pruning for Efficient Vision-Language Navigation2026 arXivโ€”

๐Ÿ”ฎ Imaginative Prediction

Spatial Imagination

Occupancy Prediction

YearPaperVenueResources
2026SPAN-Nav: Generalized Spatial Awareness for Versatile Vision-Language Navigation2026 arXivCode
2026SparseOccVLA: Bridging Occupancy and Vision-Language Models via Sparse Queries for Unified 4D Scene Understanding and Planning2026 arXivโ€”
2026SparseWorld: A Flexible, Adaptive, and Efficient 4D Occupancy World Model Powered by Sparse and Dynamic Queries2026 AAAIProject Code
2025Occ-llm: Enhancing autonomous driving with occupancy-based large language models2025 ICRAโ€”
2024Occllama: An Occupancy-Language-Action Generative World Model for Autonomous Driving2024 arXivโ€”
2023PEANUT: Predicting and Navigating to Unseen Targets2023 ICCVCode

View Completion

YearPaperVenueResources
2026MapDream: Task-Driven Map Learning for Vision-Language Navigation2026 arXivโ€”
2026MonoDream: Monocular Vision-Language Navigation with Panoramic Dreaming2026 AAAIProject
2025PanoGen++: Domain-Adapted Text-Guided Panoramic Environment Generation for Vision-and-Language Navigation2025 Neural Networksโ€”
2024Imagine Before Go: Self-Supervised Generative Map for Object Goal Navigation2024 CVPRCode
2023PanoGen: Text-Conditioned Panoramic Environment Generation for Vision-and-Language Navigation2023 NeurIPSCode

3D Representation

YearPaperVenueResources
2026GSMem: 3D Gaussian Splatting as Persistent Spatial Memory for Zero-Shot Embodied Exploration and Reasoning2026 arXivโ€”
2026ThinkMatter: Panoramic-Aware Instructional Semantics for Monocular Vision-and-Language Navigation2026 TIPโ€”
2025monoVLN: Bridging the Observation Gap between Monocular and Panoramic Vision and Language Navigation2025 ICCVโ€”
2024UnitedVLN: Generalizable Gaussian Splatting for Continuous Vision-Language Navigation2024 arXivโ€”

Temporal Imagination

Pixel Level

YearPaperVenueResources
2026WNM-3D: A World Navigation Model with 3D Scene Conditioning for Closed-Loop VLN2026 arXivโ€”
2026NavDreamer: Video Models as Zero-Shot 3D Navigators2026 arXivโ€”
2026Sparse Video Generation Propels Real-World Beyond-the-View Vision-Language Navigation2026 arXivCode
2025AstraNav-World: World Model for Foresight Control and Consistency2025 arXivโ€”
2025VISTAv2: World Imagination for Indoor Vision-and-Language Navigation2025 arXivโ€”
2025DreamNav: A Trajectory-Based Imaginative Framework for Zero-Shot Vision-and-Language Navigation2025 arXivโ€”
2025VISTA: Generative Visual Imagination for Vision-and-Language Navigation2025 arXivโ€”
2025Navigation World Models2025 CVPRโ€”
2025Do Visual Imaginations Improve Vision-and-Language Navigation Agents?2025 CVPRโ€”
2021PathDreamer: A World Model for Indoor Navigation2021 ICCVโ€”

Feature Level

YearPaperVenueResources
2026Towards Dual-Brain Minimal Sufficient Representation for Vision-Language Navigation2026 arXivโ€”
2026NavWM: A Unified Navigation World Model for Foresight-Driven Planning2026 ECCVโ€”
2026WAM-Nav: Asymmetric Latent World-Action Modeling for Unified Visual Navigation2026 arXivโ€”
2026WorldVLN: Autoregressive World Action Model for Aerial Vision-Language Navigation2026 arXivProject Code
2026LatentPilot: Scene-Aware Vision-and-Language Navigation by Dreaming Ahead with Latent Visual Reasoning2026 arXivProject Code
2026PROSPECT: Unified Streaming Vision-Language Navigation via Semantic-Spatial Fusion and Latent Predictive Representation2026 arXivโ€”
2026FantasyVLN: Unified Multimodal Chain-of-Thought Reasoning for Vision-Language Navigation2026 arXivProject Code
2026MonoDream: Monocular Vision-Language Navigation with Panoramic Dreaming2026 AAAIProject
2025NavForesee: A Unified Vision-Language World Model for Hierarchical Planning and Dual-Horizon Navigation Prediction2025 arXivโ€”
2025NavMorph: A Self-Evolving World Model for Vision-and-Language Navigation in Continuous Environments2025 NeurlPSCode

Inverse Dynamics Modeling and Causality

Inverse Dynamics

YearPaperVenueResources
2026FutureNav: Unified World-Action Modeling for Vision-and-Language Navigation2026 arXivCode Project
2026SpaAct: Spatially-Activated Transition Learning with Curriculum Adaptation for Vision-Language Navigation2026 arXivโ€”
2026Sparse Video Generation Propels Real-World Beyond-the-View Vision-Language Navigation2026 arXivCode
2026LatentPilot: Scene-Aware Vision-and-Language Navigation by Dreaming Ahead with Latent Visual Reasoning2026 arXivCode Project
2026ImagiNav: Scalable Embodied Navigation via Generative Visual Prediction and Inverse Dynamics2026 arXivโ€”
2026NaVIDA: Vision-Language Navigation with Inverse Dynamics Augmentation2026 arXivCode

Causal Learning

YearPaperVenueResources
2025CAST: Counterfactual Labels Improve Instruction Following in Vision-Language-Action Models2025 arXivCode Data
2025CVLN-Think: Causal Inference with Counterfactual Style Adaptation for Continuous Vision-and-Language Navigation2025 IROSโ€”
2024Causality-based cross-modal representation learning for vision-and-language navigation2024 arXivโ€”
2024Vision-and-Language Navigation via Causal Learning2024 CVPRCode
2022Counterfactual Cycle-Consistent Learning for Instruction Following and Generation in Vision-Language Navigation2022 CVPRCode

๐ŸŽฏ Decision Planning

Structured Decision

Instruction Decomposition

YearPaperVenueResources
2025GC-VLN: Instruction as graph constraints for training-free vision-and-language navigation2025 arXivโ€”
2025Constraint-aware zero-shot vision-language navigation in continuous environments2025 TPAMIโ€”
2024Boosting efficient reinforcement learning for vision-and-language navigation with open-sourced llm2024 RA-Lโ€”

Sub-Goal Formulation

YearPaperVenueResources
2026Traj-VLN: Learning Pixel-Space Interaction via Autoregressive Trajectory Generation2026 arXivโ€”
2026Goal2Pixel: Grounding Goals to Pixels for Vision-Language Navigation2026 arXivProject
2026Ground Slow, Move Fast: A Dual-System Foundation Model for Generalizable Vision-and-Language Navigation2026 ICLRProject Code
2025Landmark-Guided Knowledge for Vision-and-Language Navigation2025 ICICโ€”
2025SmartWay: Enhanced Waypoint Prediction and Backtracking for Zero-Shot Vision-and-Language Navigation2025 IROSโ€”
2025Affordances-oriented planning using foundation models for continuous vision-language navigation2025 AAAIProject
2025Hierarchical semantic-augmented navigation: Optimal transport and graph-driven reasoning for vision-language navigation2025 NeurIPSโ€”
2023GridMM: Grid Memory Map for Vision-and-Language Navigation2023 ICCVCode
YearPaperVenueResources
2026From Routes to Steps: Separating Semantic Progress from Local Execution in Vision-and-Language Navigation2026 arXivProject
2025Progress-Think: Semantic Progress Reasoning for Vision-Language Navigation2025 arXivโ€”
2024PASTS: Progress-Aware Spatio-Temporal Transformer Speaker for Vision-and-Language Navigation2024 EAAIโ€”
2022One step at a time: Long-horizon vision-and-language navigation with milestones2022 CVPRโ€”
2020Vision-Language Navigation with Self-Supervised Auxiliary Reasoning Tasks2020 CVPRโ€”
2019The regretful agent: Heuristic-aided navigation through progress estimation2019 CVPRCode
2019Self-monitoring navigation agent via auxiliary progress estimation2019 ICLRCode

Reasoning-based Decision

LLM as External Reasoner

YearPaperVenueResources
2026Stop Wandering: Efficient Vision-Language Navigation via Metacognitive Reasoning2026 arXivโ€”
2026TagaVLM: Topology-Aware Global Action Reasoning for Vision-Language Navigation2026 arXivโ€”
2026ReasonNavi: Human-Inspired Global Map Reasoning for Zero-Shot Embodied Navigation2026 arXivProject
2026DV-VLN: Dual Verification for Reliable LLM-Based Vision-and-Language Navigation2026 arXivโ€”
2026Towards Open Environments and Instructions: General Vision-Language Navigation via Fast-Slow Interactive Reasoning2026 arXivโ€”
2025GeoNav: Empowering MLLMs with Explicit Geospatial Reasoning Abilities for Language-Goal Aerial Navigation2025 arXivโ€”
2025SpatialGPT: Zero-Shot Vision-and-Language Navigation via Spatial CoT over Structured Spatial Memory2025 SIGSPATIALโ€”
2024End-to-end navigation with vision language models: Transforming spatial reasoning into question-answering2024 arXivโ€”
2024NavGPT-2: Unleashing Navigational Reasoning Capability for Large Vision-Language Models2024 ECCVCode Data Instruct
2024InstructNav: Zero-Shot System for Generic Instruction Navigation in Unexplored Environment2024 arXivCode
2024NavGPT: Explicit Reasoning in Vision-and-Language Navigation with Large Language Models2024 AAAICode

Integrated Perception-Reasoning-Action Model

YearPaperVenueResources
2026GroundingVLN: Reasoning and Acting with Grounding for Vision-Language Navigation2026 arXivโ€”
2026MobileVLA-R1 2.0: RL-Enhanced Reasoning for Mobile Robot Control2026 arXivProject Code
2026ReflectVLN: Training Vision-Language Navigation Agents with Reflective Reasoning2026 arXivCode
2026AwareVLN: Reasoning with Self-awareness for Vision-Language Navigation2026 CVPRProject Code
2026A Deployable Embodied Vision-Language Navigation System with Hierarchical Cognition and Context-Aware Exploration2026 arXivโ€”
2026AsyncShield: A Plug-and-Play Edge Adapter for Asynchronous Cloud-based VLA Navigation2026 arXivโ€”
2026AURA: Multimodal Shared Autonomy for Real-World Urban Navigation2026 arXivโ€”
2026HiRO-Nav: Hybrid Reasoning Enables Efficient Embodied Navigation2026 arXivโ€”
2026AgentVLN: Towards Agentic Vision-and-Language Navigation2026 arXivCode
2026EmergeNav: Structured Embodied Inference for Zero-Shot Vision-and-Language Navigation in Continuous Environments2026 arXivโ€”
2026ABot-N0: Technical Report on the VLA Foundation Model for Versatile Embodied Navigation2026 arXivโ€”
2026VLingNav: Embodied Navigation with Adaptive Reasoning and Visual-Assisted Linguistic Memory2026 arXivโ€”
2025D3D-VLP: Dynamic 3D Vision-Language-Planning Model for Embodied Grounding and Navigation2025 arXivโ€”
2025MobileVLA-R1: Reinforcing Vision-Language-Action for Mobile Robots2025 arXivProject Code
2025CompassNav: Steering from Path Imitation to Decision Understanding in Navigation2025 arXivโ€”
2025AdaNav: Adaptive Reasoning with Uncertainty for Vision-Language Navigation2025 arXivCode
2025Nav-r1: Reasoning and navigation in embodied scenes2025 arXivProject Code
2025OctoNav: Towards Generalist Embodied Navigation2025 arXivโ€”
2025Aux-Think: Exploring Reasoning Strategies for Data-Efficient Vision-Language Navigation2025 NeurlPSProject Data
2025NavCoT: Boosting LLM-based Vision-and-Language Navigation via Learning Disentangled Reasoning2025 TPAMIโ€”

Predictive Reasoning Model

YearPaperVenueResources
2026FantasyVLN: Unified Multimodal Chain-of-Thought Reasoning for Vision-Language Navigation2026 arXivProject Code
2025NavForesee: A Unified Vision-Language World Model for Hierarchical Planning and Dual-Horizon Navigation Prediction2025 arXivโ€”
2026WorldMAP: Bootstrapping Vision-Language Navigation Trajectory Prediction with Generative World Models2026 arXivโ€”
2025ImagineNav++: Prompting Vision-Language Models as Embodied Navigator through Scene Imagination2025 arXivโ€”

Hierarchical Decision

High-Level System

YearPaperVenueResources
2026LookasideVLN: Direction-Aware Aerial Vision-and-Language Navigation2026 arXivโ€”
2026HTNav: A Hybrid Navigation Framework with Tiered Structure for Urban Aerial Vision-and-Language Navigation2026 arXivโ€”
2026FloorPlan-VLN: A New Paradigm for Floor Plan Guided Vision-Language Navigation2026 arXivโ€”
2026OpenFrontier: General Navigation with Visual-Language Grounded Frontiers2026 arXivโ€”
2024VLFM: Vision-Language Frontier Maps for Zero-Shot Semantic Navigation2024 ICRAโ€”
2024ETPNav: Evolving Topological Planning for Vision-Language Navigation in Continuous Environments2024 TPAMIโ€”
2022Think Global, Act Local: Dual-Scale Graph Transformer for Vision-and-Language Navigation2022 CVPRโ€”

Low-Level System

YearPaperVenueResources
2026X-NavDP: Generalizing Navigation Diffusion Policy to Novel Behavior and Embodiments with Group Q-score Reweighted Matching2026 arXivProject Code
2026WAM-Nav: Asymmetric Latent World-Action Modeling for Unified Visual Navigation2026 arXivโ€”
2026NavDP: Learning sim-to-real navigation diffusion policy with privileged information guidance2026 ICRACode
2025LoGoPlanner: Localization Grounded Navigation Policy with Metric-aware Visual Geometry2025 arXivProject
2024NoMaD: Goal Masked Diffusion Policies for Navigation and Exploration2024 ICRACode
2024ViPlanner: Visual Semantic Imperative Learning for Local Navigation2024 ICRACode
2023iPlanner: Imperative Path Planning2023 arXivCode
2022Learning Forward Dynamics Model and Informed Trajectory Sampler for Safe Quadruped Navigation2022 RSSโ€”
2020DD-PPO: Learning Near-Perfect PointGoal Navigators from 2.5 Billion Frames2020 ICLRโ€”

Hybrid Architecture

YearPaperVenueResources
2026Token-Wise Latent Streaming from Slow Reasoners to Fast Planners for Dynamic Vision Language Navigation2026 arXivProject
2026SEDualVLN: A Spatially-Enhanced Dual-System for Vision-Language Navigation2026 arXivProject Code
2026FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation2026 arXivProject
2026TIC-VLA: A Think-in-Control Vision-Language-Action Model for Robot Navigation in Dynamic Environments2026 arXivโ€”
2026Ground Slow, Move Fast: A Dual-System Foundation Model for Generalizable Vision-and-Language Navigation2026 ICLRProject Code
2026OmniNav: A Unified Framework for Prospective Exploration and Visual-Language Navigation2026 ICLRProject Code
2025LaViRA: Language-Vision-Robot Actions Translation for Zero-Shot Vision Language Navigation in Continuous Environments2025 arXivโ€”
2025Breaking down and building up: Mixture of skill-based vision-and-language navigation agents2025 arXivโ€”
2025FlexVLN: Flexible Adaptation for Diverse Vision-and-Language Navigation Tasks2025 arXivโ€”
2025InternVLA-N1: An Open Dual-System Navigation Foundation Model with Learned Latent Plans2025 arXivโ€”

โš ๏ธ Reflection from Error

Sources and Taxonomy of Errors in VLN

Instruction Errors

YearPaperVenueResources
2026VLN-NF: Feasibility-Aware Vision-and-Language Navigation with False-Premise Instructions2026 arXivProject
2024Mind the error! detection and localization of instruction errors in vision-and-language navigation2024 IROSProject Code

Perceptual Errors

  • Covered by papers already listed above.

Planning and Decision Errors

YearPaperVenueResources
2026Where Did It Go Wrong? Capability-Oriented Failure Attribution for Vision-and-Language Navigation Agents2026 arXivโ€”

Error Prevention

Prevent Instruction Errors

YearPaperVenueResources
2025Seeing with Partial Certainty: Conformal Prediction for Robotic Scene Recognition in Built Environments2025 arXivโ€”
2025Collaborative Instance Object Navigation: Leveraging Uncertainty-Awareness to Minimize Human-Agent Dialogues2025 ICCVProject Code Data
2024I2EDL: Interactive Instruction Error Detection and Localization2024 RO-MANโ€”

Prevent Perception Errors

  • Covered by papers already listed above.

Prevent Planning and Decision Errors

YearPaperVenueResources
2026SeqWalker: Sequential-Horizon Vision-and-Language Navigation with Hierarchical Planning2026 arXivโ€”
2026EvolveNav: Empowering LLM-Based Vision-Language Navigation via Self-Improving Embodied Reasoning2026 TPAMICode

Learn From Error

Distribution Alignment

YearPaperVenueResources
2024Vision-Language Navigation with Energy-Based Policy2024 NeurIPSโ€”

DAgger-based

YearPaperVenueResources
2026Joint On-and-Off Policy Learning for Vision-and-Language Navigation2026 arXivProject
2026Path-level Hindsight Instructions for Semantic Exploration in Vision-Language Navigation2026 ECCVโ€”
2026GN0: Toward a Unified Paradigm for Generation, Evaluation, and Policy Learning in Visual-Language Navigation2026 arXivProject Code Model
2026LatentPilot: Scene-Aware Vision-and-Language Navigation by Dreaming Ahead with Latent Visual Reasoning2026 arXivProject Code
2025Efficient-VLN: A Training-Efficient Vision-Language Navigation Model2025 arXivProject
2025CorrectNav: Self-Correction Flywheel Empowers Vision-Language-Action Navigation Model2025 arXivProject
2025DAgger Diffusion Navigation: DAgger Boosted Diffusion Policy for Vision-Language Navigation2025 arXivโ€”

Exploration-based

YearPaperVenueResources
2026The Essence of Balance for Self-Improving Agents in Vision-and-Language Navigation2026 arXivโ€”
2026Let's Reward Step-by-Step: Step-Aware Contrastive Alignment for Vision-Language Navigation in Continuous Environments2026 arXivCode
2026Trajectory-Diversity-Driven Robust Vision-and-Language Navigation2026 arXivโ€”
2026Nipping the Drift in the Bud: Retrospective Rectification for Robust Vision-Language Navigation2026 arXivโ€”
2026ActiveVLN: Towards Active Exploration via Multi-Turn RL in Vision-and-Language Navigation2026 ICRACode
2025SeeNav-Agent: Enhancing Vision-Language Navigation with Visual Prompt and Step-Level Policy Optimization2025 arXivCode Model

Test-time Adaptation & Self Correstion

YearPaperVenueResources
2026SC2-WM: A Self-Correcting World Model with Closed-Loop Feedback for Vision-and-Language Navigation in Continuous Environments2026 ICMLCode
2026No Training, Better Flights: Test-Time Scaled VLMs for UAV Navigation2026 arXivโ€”
2026Turning Adaptation into Assets: Cross-Domain Bridging for Online Vision-Language Navigation2026 ICMLโ€”
2025Active Test-time Vision-Language Navigation2025 arXivโ€”
2025Test-Time Adaptation for Online Vision-Language Navigation with Feedback-based Reinforcement Learning2025 ICMLโ€”
2023Fast-slow test-time adaptation for online vision-and-language navigation2023 arXivCode

๐ŸŒ Broader Navigation Literature

Surveys and Evaluation

YearPaperVenueResources
2026A Comprehensive Survey and Systematic Real-World Evaluation of Embodied Vision-and-Language Navigation2026 IEEE TASEโ€”
2026A comprehensive review of recent advancements in vision-and-language navigation2026 Discover Computingโ€”
2026Robot Navigation via Foundation Language Models: A Review2026 ACM Computing Surveysโ€”
2026Vision-Language Navigation for Aerial Robots: Towards the Era of Large Language Models2026 arXivโ€”
2026Vision-and-Language Navigation for UAVs: Progress, Challenges, and a Research Roadmap2026 arXivโ€”
2026Mini-BEHAVIOR-Gran: Revealing U-Shaped Effects of Instruction Granularity on Language-Guided Embodied Agents2026 arXivโ€”
2026NavTrust: Benchmarking Trustworthiness for Embodied Navigation2026 arXivProject
2024Vision-and-language navigation today and tomorrow: A survey in the era of foundation models2024 TMLRCode
2024Vision-language navigation: a survey and taxonomy2024 Neural Computing and Applicationsโ€”
2023Advances in embodied navigation using large language models: A survey2023 arXivโ€”
2023A2Nav: Action-Aware Zero-Shot Robot Navigation by Exploiting Vision-and-Language Ability of Foundation Models2023 arXivโ€”
2023Visual language navigation: A survey and open challenges2023 Artificial Intelligence Reviewโ€”
2022Vision-and-language navigation: A survey of tasks, methods, and future directions2022 ACLCode
2019General evaluation for instruction conditioned navigation using dynamic time warping2019 arXivโ€”
2018On evaluation of embodied navigation agents2018 arXivโ€”

General Navigation and Object Navigation

YearPaperVenueResources
2026Scaffolding Foundation Models into Physical-World Agents Pushes the Frontier of Long-Horizon Navigation2026 arXivโ€”
2026LightNav-0: Eliciting VLM Spatial Intelligence for Generalist Embodied Navigation2026 arXivProject Code
2026VoLN: Vision-Only Long-Horizon Navigation---Paradigm, Benchmark, and Method2026 arXivProject Code Data
2026ABot-N1: Toward a General Visual Language Navigation Foundation Model2026 arXivProject
2026Qwen-RobotNav: A Scalable Navigation Model Designed for an Agentic Navigation System2026 arXivProject
2026GN0: Toward a Unified Paradigm for Generation, Evaluation, and Policy Learning in Visual-Language Navigation2026 arXivProject Code Model
2026R2F: Repurposing Ray Frontiers for LLM-free Object Navigation2026 arXivโ€”
2026Hydra-Nav: Object Navigation via Adaptive Dual-Process Reasoning2026 arXivโ€”
2026MerNav: A Highly Generalizable Memory-Execute-Review Framework for Zero-Shot Object Goal Navigation2026 arXivโ€”
2025RANGER: A Monocular Zero-Shot Semantic Navigation Framework through Contextual Adaptation2025 arXivโ€”
2025SocialNav-Map: Dynamic Mapping with Human Trajectory Prediction for Zero-Shot Social Navigation2025 arXivCode
2025NavSpace: How Navigation Agents Follow Spatial Intelligence Instructions2025 arXivCode
2025C-NAV: Towards self-evolving continual object navigation in open world2025 arXivโ€”
20253D-Mem: 3D Scene Memory for Embodied Exploration and Reasoning2025 arXivโ€”
2024TopV-Nav: Unlocking the top-view spatial reasoning potential of MLLM for zero-shot object navigation2024 arXivโ€”
2023ViNT: A foundation model for visual navigation2023 arXivProject Code
2022GNM: A general navigation model to drive any robot2022 arXivCode

Embodied / VLA Context

YearPaperVenueResources
2025MemoryVLA: Perceptual-Cognitive Memory in Vision-Language-Action Models for Robotic Manipulation2025 arXivโ€”
2024ฯ€0: A Vision-Language-Action Flow Model for General Robot Control2024 arXivโ€”
2024OpenVLA: An Open-Source Vision-Language-Action Model2024 arXivProject Code

Policies, Efficiency, and Applied Navigation

YearPaperVenueResources
2026Embodied Agents Take Control: Minimal-Interface Zero-Shot Agents Rival Industrial-Scale Policies in Vision-and-Language Navigation2026 arXivโ€”
2026P3Nav: End-to-End Perception, Prediction and Planning for Vision-and-Language Navigation2026 arXivโ€”
2026Beyond Imitation: Reinforcement Learning Fine-Tuning for Adaptive Diffusion Navigation Policies2026 arXivโ€”
2026NavDP: Learning sim-to-real navigation diffusion policy with privileged information guidance2026 ICRACode
2025Nav-EE: Navigation-Guided Early Exiting for Efficient Vision-Language Models in Autonomous Driving2025 arXivโ€”
2025OmniVLA: An omni-modal vision-language-action model for robot navigation2025 arXivProject Code
2025EgoPrune: Efficient token pruning for egomotion video reasoning in embodied agent2025 arXivโ€”

๐Ÿš€ Future Directions

Representative outlook papers explicitly discussed in the manuscript are listed below.

Toward Action-Aware Policies

  • Action grounding beyond static image-text reasoning.

Toward Visual Predictive CoT

  • Reasoning grounded in predicted visual futures.

Towards Unified Visual Geometry Navigation Model

  • Tighter coupling between geometry and policy learning.

Towards Dynamic Environment

YearPaperVenueResources
2026Walk With Me: Long-Horizon Social Navigation for Human-Centric Outdoor Assistance2026 arXivโ€”
2025HA-VLN: A Benchmark for Human-Aware Navigation in Discrete-Continuous Environments with Dynamic Multi-Human Interactions, Real-World Validation, and an Open Leaderboard2025 arXivCode
2025From Cognition to Precognition: A Future-Aware Framework for Social Navigation2025 ICRAโ€”
2025VLN-ChEnv: Vision-language Navigation in Changeable Environments2025 ACM MMโ€”
2024VLM-Social-Nav: Socially Aware Robot Navigation through Scoring using Vision-Language Models2024 RA-LProject

Towards Collaborative VLN

YearPaperVenueResources
2026Benchmarking Interaction, Beyond Policy: a Reproducible Benchmark for Collaborative Instance Object Navigation2026 arXivโ€”
2026DeCoNav: Dialog enhanced Long-Horizon Collaborative Vision-Language Navigation2026 arXivโ€”
2026MA-CoNav: A Master-Slave Multi-Agent Framework with Hierarchical Collaboration and Dual-Level Reflection for Long-Horizon Embodied VLN2026 arXivโ€”
2026FSUNav: A Cerebrum-Cerebellum Architecture for Fast, Safe, and Universal Zero-Shot Goal-Oriented Navigation2026 arXivโ€”
2026CA-VLN: Collaborative Agents in MLLM-Powered Visual-Language Navigation2026 Sensorsโ€”
2025Enhancing Multi-Robot Semantic Navigation through Multimodal Chain-of-Thought Score Collaboration2025 AAAIโ€”
2023Co-NavGPT: Multi-Robot Cooperative Visual Semantic Navigation Using Vision Language Models2023 arXivโ€”

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