Beyond Waypoints: A Trajectory-Centric Waypointing Paradigm for Vision-Language Navigation
Vision-Language Navigation in Continuous Environments (VLN-CE) requires agents to follow natural-language instructions while navigating in real-world-like environments. Most VLN-CE approach\-es adopt a three-stage framework: a waypoint predictor proposes navigable waypoints, and a navigator selects the best waypoint, with a low-level controller executing the movement to it. However, this decoupled paradigm often leads to unreachable waypoints or inconsistencies between planning and control. In this work, instead of predicting isolated waypoints, we introduce a novel paradigm called Trajectory Waypoint, which grounds each candidate waypoint in an executable trajectory. To realize this, we ...
| Authors | Haoxiang Shi, Xiang Deng, Haoyu Zhang et al. |
|---|---|
| Primary category | cs.RO |
| Published | 5 June 2026 |
| Last updated at source | 5 June 2026 |
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