UniTrackPLA: Unified Panorama-Language-Action Model for Instruction-Guided Navigation and Dynamic Person Tracking
General-purpose embodied robots should support both navigation toward language-specified destinations and dynamic person tracking under arbitrary initial target azimuths. However, existing methods typically rely on forward-facing observations and address these tasks with separate policies, limiting omnidirectional perception and unified closed-loop control. We present UniTrackPLA, a unified panorama-language-action model for instruction-guided navigation and dynamic person tracking. Its Panoramic-Aware Encoding (PAE) preserves the temporal and azimuthal structure of perspective views projected from each panorama, enabling perspective-pretrained visual encoders to process omnidirectional o...
| Authors | Pengfei Qi, Haoran Lin, Sizhuang Chen et al. |
|---|---|
| Primary category | cs.RO |
| Published | 1 October 2026 |
| Last updated at source | 1 October 2026 |
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