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.
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