Author

Fulin Tang

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Preprint Oct 2026

GeoScaffold: Learning Compact Geometric Latents via Reconstruction for Efficient Vision-Language Navigation

Recent vision-and-language navigation (VLN) systems increasingly adopt streaming Video-LLM policies that map egocentric RGB observations and instructions directly to low-level actions. Yet these policies inherit weak 3D geometric priors from 2D pretraining. Existing geometry-aware extensions charge a persistent inferen...

Yi-Xuan Jiang, Wen-Tong Li, An Liu et al. · 0 citations

Jul 2026

HAM-VLN: Harnessing Hierarchical Agentic Memory for Zero-Shot Vision-and-Language Navigation

HAM-VLN is presented, a decision-coupled, agent-authored memory that equips the robot with a persistent, depth-grounded world graph and reduces the context length by more than 65% compared to previous methods.

An Liu, Bingxi Liu, Hongyu Ding et al. · arXiv.org · 1 citation