RiverVLN: Phase-Grounded Temporal Vision--Language Navigation for Unmanned Surface Vehicles
Vision-language navigation (VLN) has largely been developed for indoor and terrestrial robots, where language can often be treated as a static goal and motion is approximated by discrete or near-instantaneous actions. These assumptions break down for unmanned surface vehicles (USVs): river navigation requires continuous motion under inertia and limited maneuverability, while long-horizon instructions must be executed through sparse and visually ambiguous maritime landmarks. We introduce RiverVLN, to our knowledge the first benchmark designed for long-horizon USV VLN under continuous riverine motion, and PGT-NAV, a phase-grounded temporal navigation framework for USVs. Rather than directly...
| Authors | Jieling Wu, Yuehao Huang, Jiajun Lv et al. |
|---|---|
| Primary category | cs.RO |
| Published | 20 September 2026 |
| Last updated at source | 20 September 2026 |
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