Author

Wenjun Xu

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Preprint Aug 2026

CrossTracer: Cross-Embodiment Navigation via VLA Model Reasoning and Trace Residuals Adapting

Vision-language-action (VLA) models provide strong semantic priors for robot navigation, but they often ignore embodiment-specific mobility constraints. A path that is semantically plausible for one robot may be physically infeasible for another. We propose CrossTracer, a hierarchical framework for cross-embodiment nav...

Yao Wang, Siyuan Wang, Zhi-Qiang Sun et al. · 1 citation

Preprint Aug 2026

Exposing the Long-tail in Embodied Urban Navigation via Scalable Learning from In-the-Wild Videos

Learning embodied urban navigation policies from real-world data is constrained by the cost of task-specific data collection and the limited coverage of rare yet safety-critical scenarios. To address these challenges, we present a scalable framework for learning point-goal urban navigation from web-scale in-the-wild eg...

Bingyi Xia, Han Bao, Zhe-Wei Chen et al. · 0 citations

Jul 2026

Traj-VLN: Learning Pixel-Space Interaction via Autoregressive Trajectory Generation

This work proposes an alternative approach: fine-tuning VLMs to learn navigation interactions directly in 2D pixel space through autoregressive trajectory generation, and demonstrates that this flagship model achieves state-of-the-art level performance with relatively limited computational resources and training data.

Changfei Fu, Guangcheng Chen, Aoxiang Gu et al. · arXiv.org · 0 citations