POINav: Benchmarking and Enhancing Final-Meters Arrival in Real-World Vision-Language Navigation
Real-world navigation is fundamentally driven by Points of Interest (POIs), yet reaching a precise POI remains a critical "final-meters" challenge. Existing Vision-Language Navigation (VLN) benchmarks of POI-goal navigation often suffer from coarse granularity or significant sim-to-real gaps due to generated scene. To bridge this gap, we present POINav-Bench, the first benchmark designed for closed-loop evaluation of real-world POI-goal navigation. It comprises 11 commercial areas reconstructed from real-world captures using 3D Gaussian Splatting (3DGS), covering 126,398 $m^{2}$ in total and spanning 163 distinct POIs. With traversability-aware annotations and reference trajectories, POIN...
| Authors | Ruiyan Gong, Meisheng Zhang, Yuxiang Zhao et al. |
|---|---|
| Primary category | cs.RO |
| Published | 27 May 2026 |
| Last updated at source | 27 May 2026 |
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