Sim-to-Real Transfer of Vision-Language Navigation in Continuous Environments Using an Ackermann-Steered Mobile Robot
Vision-Language Navigation (VLN) enables robots to navigate through environments using natural language instructions, making human-robot interaction intuitive. Traditional VLN models often rely on navigation graphs, 360-degree views, and perfect localization which pose significant challenges when adapting these models to real-world settings. This work addresses these limitations by performing a simulation-to-real domain shift of a VLN approach that operates in continuous environments without requiring navigation graphs or panoramic views. The proposed system integrates vision-language models that align visual inputs and linguistic instructions within a shared embedding space, facilitating...
| Authors | Chalindu Abeywansa, Sahan Gunasekara, Devindi De Silva et al. |
|---|---|
| Primary category | cs.AI |
| Published | 5 October 2026 |
| Last updated at source | 5 October 2026 |
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