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Embodied navigation stands as a foundation pillar within the broader pursuit of embodied AI.
Target-driven visual navigation in indoor scenes using deep reinforcement learning
Yuke Zhu, Roozbeh Mottaghi, Eric Kolve, Joseph J Lim, Abhinav Gupta, Li Fei-Fei, and Ali Farhadi · 2017
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Matterport3d: Learning from rgb-d data in indoor environments
Angel Chang, Angela Dai, Thomas Funkhouser, Maciej Halber, Matthias Niebner, Manolis Savva, Shuran Song, Andy Zeng, and Yinda Zhang · 2017
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Vision-and-language navigation: Interpreting visually-grounded navigation instructions in real environments
Peter Anderson, Qi Wu, Damien Teney, Jake Bruce, Mark Johnson, Niko Sünderhauf, Ian Reid, Stephen Gould, and Anton Van Den Hengel · 2018
Earlier work this paper cites.
Gibson env: Real-world perception for embodied agents
Fei Xia, Amir R Zamir, Zhiyang He, Alexander Sax, Jitendra Malik, and Silvio Savarese · 2018
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On evaluation of embodied navigation agents
Peter Anderson, Angel Chang, Devendra Singh Chaplot, Alexey Dosovitskiy, Saurabh Gupta, Vladlen Koltun, Jana Kosecka, Jitendra Malik, Roozbeh Mottaghi, Manolis Savva, et al · 2018
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Habitat: A Platform for Embodied AI Research
Manolis Savva, Abhishek Kadian, Oleksandr Maksymets, Yili Zhao, Erik Wijmans, Bhavana Jain, Julian Straub, Jia Liu, Vladlen Koltun, Jitendra Malik, Devi Parikh, and Dhruv Batra · 2019
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Bert: Pre-training of deep bidirectional transformers for language understanding
Jacob Devlin, Ming-Wei Chang, Kenton Lee, and Kristina Toutanova · 2019
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Object goal navigation using goal-oriented semantic exploration
Devendra Singh Chaplot, Dhiraj Prakashchand Gandhi, Abhinav Gupta, and Russ R Salakhutdinov · 2020
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Sim2Real Predictivity: Does Evaluation in Simulation Predict Real-World Performance?
Abhishek Kadian*, Joanne Truong*, Aaron Gokaslan, Alexander Clegg, Erik Wijmans, Stefan Lee, Manolis Savva, Sonia Chernova, and Dhruv Batra · 2020
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Beyond the nav-graph: Vision-and-language navigation in continuous environments
Jacob Krantz, Erik Wijmans, Arjun Majumdar, Dhruv Batra, and Stefan Lee · 2020
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Reverie: Remote embodied visual referring expression in real indoor environments
Yuankai Qi, Qi Wu, Peter Anderson, Xin Wang, William Yang Wang, Chunhua Shen, and Anton van den Hengel · 2020
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Objectnav revisited: On evaluation of embodied agents navigating to objects
Dhruv Batra, Aaron Gokaslan, Aniruddha Kembhavi, Oleksandr Maksymets, Roozbeh Mottaghi, Manolis Savva, Alexander Toshev, and Erik Wijmans · 2020
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The surprising effectiveness of visual odometry techniques for embodied pointgoal navigation
Xiaoming Zhao, Harsh Agrawal, Dhruv Batra, and Alexander G Schwing · 2021
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Habitat-matterport 3d dataset (hm3d): 1000 large-scale 3d environments for embodied ai
Santhosh Kumar Ramakrishnan, Aaron Gokaslan, Erik Wijmans, Oleksandr Maksymets, Alexander Clegg, John M Turner, Eric Undersander, Wojciech Galuba, Andrew Westbury, Angel X Chang, et al · 2021
Earlier work this paper cites.
Soon: Scenario oriented object navigation with graph-based exploration
Fengda Zhu, Xiwen Liang, Yi Zhu, Qizhi Yu, Xiaojun Chang, and Xiaodan Liang · 2021
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Room-and-object aware knowledge reasoning for remote embodied referring expression
Chen Gao, Jinyu Chen, Si Liu, Luting Wang, Qiong Zhang, and Qi Wu · 2021
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Habitat 2.0: Training home assistants to rearrange their habitat
Andrew Szot, Alex Clegg, Eric Undersander, Erik Wijmans, Yili Zhao, John Turner, Noah Maestre, Mustafa Mukadam, Devendra Chaplot, Oleksandr Maksymets, Aaron Gokaslan, Vladimir Vondrus, Sameer Dharur, Franziska Meier, Wojciech Galuba, Angel Chang, Zsolt Kira, Vladlen Koltun, Jitendra Malik, Manolis Savva, and Dhruv Batra · 2021
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Lora: Low-rank adaptation of large language models
Edward J. Hu, Yelong Shen, Phillip Wallis, Zeyuan Allen-Zhu, Yuanzhi Li, Shean Wang, Lu Wang, and Weizhu Chen · 2021
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Is mapping necessary for realistic pointgoal navigation?
Ruslan Partsey, Erik Wijmans, Naoki Yokoyama, Oles Dobosevych, Dhruv Batra, and Oleksandr Maksymets · 2022
Earlier work this paper cites.
Instance-specific image goal navigation: Training embodied agents to find object instances
Jacob Krantz, Stefan Lee, Jitendra Malik, Dhruv Batra, and Devendra Singh Chaplot · 2022
Earlier work this paper cites.
Towards versatile embodied navigation
Hanqing Wang, Wei Liang, Luc V Gool, and Wenguan Wang · 2022
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Chain-of-thought prompting elicits reasoning in large language models
Jason Wei, Xuezhi Wang, Dale Schuurmans, Maarten Bosma, Fei Xia, Ed Chi, Quoc V Le, Denny Zhou, et al · 2022
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Procthor: Large-scale embodied ai using procedural generation
Matt Deitke, Eli VanderBilt, Alvaro Herrasti, Luca Weihs, Kiana Ehsani, Jordi Salvador, Winson Han, Eric Kolve, Aniruddha Kembhavi, and Roozbeh Mottaghi · 2022
Earlier work this paper cites.
Reinforced structured state-evolution for vision-language navigation
Jinyu Chen, Chen Gao, Erli Meng, Qiong Zhang, and Si Liu · 2022
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Target-driven structured transformer planner for vision-language navigation
Yusheng Zhao, Jinyu Chen, Chen Gao, Wenguan Wang, Lirong Yang, Haibing Ren, Huaxia Xia, and Si Liu · 2022
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Room-object entity prompting and reasoning for embodied referring expression
Chen Gao, Si Liu, Jinyu Chen, Luting Wang, Qi Wu, Bo Li, and Qi Tian · 2023
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Fgprompt: Fine-grained goal prompting for image-goal navigation
Xinyu Sun, Peihao Chen, Jugang Fan, Jian Chen, Thomas Li, and Mingkui Tan · 2023
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Habitat challenge 2023
Karmesh Yadav, Jacob Krantz, Ram Ramrakhya, Santhosh Kumar Ramakrishnan, Jimmy Yang, Austin Wang, John Turner, Aaron Gokaslan, Vincent-Pierre Berges, Roozbeh Mootaghi, Oleksandr Maksymets, Angel X Chang, Manolis Savva, Alexander Clegg, Devendra Singh Chaplot, and Dhruv Batra · 2023
Cited alongside, same era.
Navigating to objects specified by images
Jacob Krantz, Theophile Gervet, Karmesh Yadav, Austin Wang, Chris Paxton, Roozbeh Mottaghi, Dhruv Batra, Jitendra Malik, Stefan Lee, and Devendra Singh Chaplot · 2023
Cited alongside, same era.
Palm-e: An embodied multimodal language model
Danny Driess, F. Xia, Mehdi S. M. Sajjadi, Corey Lynch, Aakanksha Chowdhery, Brian Ichter, Ayzaan Wahid, Jonathan Tompson, Quan Ho Vuong, Tianhe Yu, Wenlong Huang, Yevgen Chebotar, Pierre Sermanet, Daniel Duckworth, Sergey Levine, Vincent Vanhoucke, Karol Hausman, Marc Toussaint, Klaus Greff, Andy Zeng, Igor Mordatch, and Peter R. Florence · 2023
Cited alongside, same era.
Rt-2: Vision-language-action models transfer web knowledge to robotic control
Brianna Zitkovich, Tianhe Yu, Sichun Xu, Peng Xu, Ted Xiao, Fei Xia, Jialin Wu, Paul Wohlhart, Stefan Welker, Ayzaan Wahid, et al · 2023
Cited alongside, same era.
React: Synergizing reasoning and acting in language models
Shunyu Yao, Jeffrey Zhao, Dian Yu, Nan Du, Izhak Shafran, Karthik Narasimhan, and Yuan Cao · 2023
Topologies of reasoning: Demystifying chains, trees, and graphs of thoughts
Maciej Besta, Florim Memedi, Zhenyu Zhang, Robert Gerstenberger, Nils Blach, Piotr Nyczyk, Marcin Copik, Grzegorz Kwasniewski, Jürgen Müller, Lukas Gianinazzi, et al · 2024
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Graph of thoughts: Solving elaborate problems with large language models
Maciej Besta, Nils Blach, Ales Kubicek, Robert Gerstenberger, Michal Podstawski, Lukas Gianinazzi, Joanna Gajda, Tomasz Lehmann, Hubert Niewiadomski, Piotr Nyczyk, et al · 2024
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Chain of thought empowers transformers to solve inherently serial problems
Zhiyuan Li, Hong Liu, Denny Zhou, and Tengyu Ma · 2024
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Xiang Zhang, Muhammad Abdul-Mageed, and Laks VS Lakshmanan · 2024
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Deepseekmath: Pushing the limits of mathematical reasoning in open language models
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Cited alongside, same era.
Tree of thoughts: Deliberate problem solving with large language models
Shunyu Yao, Dian Yu, Jeffrey Zhao, Izhak Shafran, Tom Griffiths, Yuan Cao, and Karthik Narasimhan · 2023
Cited alongside, same era.
Large language model guided tree-of-thought
Jieyi Long · 2023
Cited alongside, same era.
Towards revealing the mystery behind chain of thought: a theoretical perspective
Guhao Feng, Bohang Zhang, Yuntian Gu, Haotian Ye, Di He, and Liwei Wang · 2023
Cited alongside, same era.
Iterative vision-and-language navigation
Jacob Krantz, Shurjo Banerjee, Wang Zhu, Jason Corso, Peter Anderson, Stefan Lee, and Jesse Thomason · 2023
Cited alongside, same era.
Bird’s-eye-view scene graph for vision-language navigation
Rui Liu, Xiaohan Wang, Wenguan Wang, and Yi Yang · 2023
Cited alongside, same era.
Adaptive zone-aware hierarchical planner for vision-language navigation
Chen Gao, Xingyu Peng, Mi Yan, He Wang, Lirong Yang, Haibing Ren, Hongsheng Li, and Si Liu · 2023
Cited alongside, same era.
Habitat 3.0: A co-habitat for humans, avatars and robots
Xavier Puig, Eric Undersander, Andrew Szot, Mikael Dallaire Cote, Tsung-Yen Yang, Ruslan Partsey, Ruta Desai, Alexander William Clegg, Michal Hlavac, So Yeon Min, et al · 2023
Cited alongside, same era.
Zhihong Shao, Peiyi Wang, Qihao Zhu, Runxin Xu, Junxiao Song, Xiao Bi, Haowei Zhang, Mingchuan Zhang, YK Li, Y Wu, et al · 2024
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Group robust preference optimization in reward-free rlhf
Shyam Sundhar Ramesh, Yifan Hu, Iason Chaimalas, Viraj Mehta, Pier Giuseppe Sessa, Haitham Bou Ammar, and Ilija Bogunovic · 2024
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Hm3d-ovon: A dataset and benchmark for open-vocabulary object goal navigation
Naoki Yokoyama, Ram Ramrakhya, Abhishek Das, Dhruv Batra, and Sehoon Ha · 2024
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Llama-vid: An image is worth 2 tokens in large language models
Yanwei Li, Chengyao Wang, and Jiaya Jia · 2024
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Video-llava: Learning united visual representation by alignment before projection
Bin Lin, Yang Ye, Bin Zhu, Jiaxi Cui, Munan Ning, Peng Jin, and Li Yuan · 2024
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Llava-next: A strong zero-shot video understanding model
Yuanhan Zhang, Bo Li, haotian Liu, Yong jae Lee, Liangke Gui, Di Fu, Jiashi Feng, Ziwei Liu, and Chunyuan Li · 2024
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Vision-language navigation with energy-based policy
Rui Liu, Wenguan Wang, and Yi Yang · 2024
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Volumetric environment representation for vision-language navigation
Rui Liu, Wenguan Wang, and Yi Yang · 2024
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Controllable navigation instruction generation with chain of thought prompting
Xianghao Kong, Jinyu Chen, Wenguan Wang, Hang Su, Xiaolin Hu, Yi Yang, and Si Liu · 2024
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Deepseek-r1: Incentivizing reasoning capability in llms via reinforcement learning
Daya Guo, Dejian Yang, Haowei Zhang, Junxiao Song, Ruoyu Zhang, Runxin Xu, Qihao Zhu, Shirong Ma, Peiyi Wang, Xiao Bi, et al · 2025
Closest in time.
Navcot: Boosting llm-based vision-and-language navigation via learning disentangled reasoning
Bingqian Lin, Yunshuang Nie, Ziming Wei, Jiaqi Chen, Shikui Ma, Jianhua Han, Hang Xu, Xiaojun Chang, and Xiaodan Liang · 2025
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Enhancing large language models with rag for visual language navigation in continuous environments
Xiaoan Bao, Zhiqiang Lv, and Biao Wu · 2025
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Llm-guided zero-shot visual object navigation with building semantic map
Jin Shi, Satoshi Yagi, Satoshi Yamamori, and Jun Morimoto · 2025
Closest in time.
Flexvln: Flexible adaptation for diverse vision-and-language navigation tasks
Siqi Zhang, Yanyuan Qiao, Qunbo Wang, Longteng Guo, Zhihua Wei, and Jing Liu · 2025
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Unigoal: Towards universal zero-shot goal-oriented navigation
Hang Yin, Xiuwei Xu, Lingqing Zhao, Ziwei Wang, Jie Zhou, and Jiwen Lu · 2025
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Uni-navid: A video-based vision-language-action model for unifying embodied navigation tasks
Jiazhao Zhang, Kunyu Wang, Shaoan Wang, Minghan Li, Haoran Liu, Songlin Wei, Zhongyuan Wang, Zhizheng Zhang, and He Wang · 2025
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Cppo: Accelerating the training of group relative policy optimization-based reasoning models
Zhihang Lin, Mingbao Lin, Yuan Xie, and Rongrong Ji · 2025
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Adaptive group policy optimization: Towards stable training and token-efficient reasoning
Chen Li, Nazhou Liu, and Kai Yang · 2025
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Vision-r1: Incentivizing reasoning capability in multimodal large language models
Wenxuan Huang, Bohan Jia, Zijie Zhai, Shaosheng Cao, Zheyu Ye, Fei Zhao, Zhe Xu, Yao Hu, and Shaohui Lin · 2025
Closest in time.
Video-r1: Reinforcing video reasoning in mllms
Kaituo Feng, Kaixiong Gong, Bohao Li, Zonghao Guo, Yibing Wang, Tianshuo Peng, Benyou Wang, and Xiangyu Yue · 2025
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Tinyllava-video-r1: Towards smaller lmms for video reasoning
Xingjian Zhang, Siwei Wen, Wenjun Wu, and Lei Huang · 2025
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Shuai Bai, Keqin Chen, Xuejing Liu, Jialin Wang, Wenbin Ge, Sibo Song, Kai Dang, Peng Wang, Shijie Wang, Jun Tang, et al · 2025
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