DPed-VLN: A Benchmark for Socially Compliant Vision-and-Language Navigation in Dynamic Pedestrian Environments

arXiv:2609.21504 · cs.RO · Submitted 2026-09-18 · Read on arXiv

cs.RO

Submitted: 2026-09-18

Updated: 2026-09-18

Code: https://github.com/tju-dhj/DPedVLN

Terminology

• Benchmark — 28× in this paper · explained in 2 episodes
• Grounding — 9× in this paper · explained in 3 episodes
• Adaptation — 6× in this paper · explained in 1 episode
• Reinforcement Learning — 5× in this paper · explained in 4 episodes
• Fine-Tuning — 4× in this paper · explained in 5 episodes
• Foundation Model — 3× in this paper · explained in 3 episodes
• World Model — 3× in this paper · explained in 7 episodes
• Ablation — 2× in this paper · explained in 1 episode
• Action-Conditioned World Model — 2× in this paper · explained in 1 episode
• Adam — 2× in this paper · explained in 2 episodes
• Foundation Models — 2× in this paper · explained in 7 episodes
• Generalization — 2× in this paper · explained in 13 episodes
• Social Cognition Penalties — 2× in this paper
• Visual Grounding — 2× in this paper · explained in 2 episodes
• Ablation study — 1× in this paper · explained in 1 episode
• Action Space — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 3 episodes
• Embeddings — 1× in this paper · explained in 2 episodes
• Embodied AI — 1× in this paper · explained in 2 episodes
• Hierarchical Framework — 1× in this paper · explained in 2 episodes
• Human Collision Rate — 1× in this paper
• IEEE International Conference on Robotics and Automation — 1× in this paper
• Imitation Learning (IL) — 1× in this paper · explained in 2 episodes
• LoRA Adaptation — 1× in this paper · explained in 2 episodes
• LoRA Fine-Tuning — 1× in this paper · explained in 3 episodes
• Method Success Rate — 1× in this paper
• Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes
• Temporal Reasoning — 1× in this paper · explained in 2 episodes

Sources

• SocialNav: Training Human-Inspired Foundation Model for Socially-Aware Embodied Navigation
• NaVILA: Legged Robot Vision-Language-Action Model for Navigation
• A Survey of Sim-to-Real Methods in RL: Progress, Prospects and Challenges with Foundation Models
• HA-VLN 2.0: An Open Benchmark and Leaderboard for Human-Aware Navigation in Discrete and Continuous Environments with Dynamic Multi-Human Interactions
• NavThinker: Action-Conditioned World Models for Coupled Prediction and Planning in Social Navigation
• FreeAskWorld: An Interactive and Closed-Loop Simulator for Human-Centric Embodied AI
• Habitat 3.0: A Co-Habitat for Humans, Avatars and Robots
• Proximal Policy Optimization Algorithms
• CLASH: Collaborative Large-Small Hierarchical Framework for Continuous Vision-and-Language Navigation
• Safety of Embodied Navigation: A Survey
• StreamVLN: Streaming Vision-and-Language Navigation via SlowFast Context Modeling
• NaVid: Video-based VLM Plans the Next Step for Vision-and-Language Navigation

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