NaViRrator: Robot Navigation from Human-Readable Maps through a Learned Visual Route

arXiv:2609.21316 · cs.RO · Submitted 2026-09-18 · Read on arXiv

cs.RO

Submitted: 2026-09-18

Updated: 2026-09-18

Terminology

• Flow Matching — 8× in this paper · explained in 8 episodes
• Adaptation — 5× in this paper · explained in 1 episode
• Modularity — 4× in this paper · explained in 9 episodes
• Alignment — 3× in this paper · explained in 1 episode
• Fine-Tuning — 3× in this paper · explained in 5 episodes
• Scaffolding — 3× in this paper · explained in 3 episodes
• Adam — 2× in this paper · explained in 2 episodes
• Core — 2× in this paper · explained in 2 episodes
• Grounding — 2× in this paper · explained in 3 episodes
• Accuracy — 1× in this paper · explained in 1 episode
• Action Flow — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Decoupling — 1× in this paper · explained in 2 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Generative Modeling — 1× in this paper · explained in 3 episodes
• Knowledge Graph — 1× in this paper · explained in 7 episodes
• Knowledge graphs — 1× in this paper · explained in 2 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Simultaneous Localization and Mapping — 1× in this paper
• Tokenization — 1× in this paper · explained in 2 episodes
• Unified Framework — 1× in this paper · explained in 5 episodes
• Vision-Language Model (VLM) — 1× in this paper · explained in 3 episodes
• Vision-Language-Action (VLA) Models — 1× in this paper · explained in 2 episodes
• Visual Grounding — 1× in this paper · explained in 2 episodes

Sources

• SkeNa: Learning to Navigate Unseen Environments Based on Abstract Hand-Drawn Maps
• FloorPlan-VLN: A New Paradigm for Floor Plan Guided Vision-Language Navigation
• $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control
• Can Large Vision Language Models Read Maps Like a Human?
• Flow Matching for Generative Modeling
• ViNT: A Foundation Model for Visual Navigation
• Floor Plan-Guided Visual Navigation Incorporating Depth and Directional Cues
• FloVerse: Floor Plan-Guided Multi-Modal Navigation
• NaVILA: Legged Robot Vision-Language-Action Model for Navigation

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