Talk2Escape: Conversational Grounding for Vision-and-Language Navigation

arXiv:2609.28296 · cs.RO, cs.HC · Submitted 2026-09-23 · Read on arXiv

cs.RO, cs.HC

Submitted: 2026-09-23

Updated: 2026-09-23

Project page: https://zeruili22.github.io/talk2escape

Terminology

• Benchmark — 10× in this paper · explained in 2 episodes
• Human-in-the-Loop — 8× in this paper · explained in 3 episodes
• Success Rate — 7× in this paper
• Model-Agnostic — 6× in this paper · explained in 2 episodes
• Fidelity — 5× in this paper · explained in 2 episodes
• Ablation — 3× in this paper · explained in 1 episode
• Core — 3× in this paper · explained in 2 episodes
• Grounding — 3× in this paper · explained in 3 episodes
• Multimodal Large Language Model — 3× in this paper
• Action Space — 2× in this paper · explained in 1 episode
• Fine-Tuning — 2× in this paper · explained in 5 episodes
• Generalization — 2× in this paper · explained in 13 episodes
• Multimodal Reasoning — 2× in this paper · explained in 5 episodes
• Robustness — 2× in this paper · explained in 5 episodes
• Sparsity — 2× in this paper · explained in 4 episodes
• Transferability — 2× in this paper · explained in 4 episodes
• Ablation Studies — 1× in this paper · explained in 1 episode
• Active Perception — 1× in this paper · explained in 2 episodes
• Agent Interactions — 1× in this paper · explained in 1 episode
• Chain-of-Thought (CoT) — 1× in this paper · explained in 4 episodes
• Closed-Loop System — 1× in this paper · explained in 4 episodes
• Embodied AI — 1× in this paper · explained in 2 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Generalizability — 1× in this paper · explained in 6 episodes
• International Conference on Robotics and Automation — 1× in this paper
• Navigation Error — 1× in this paper
• Oracle Success Rate — 1× in this paper
• Parameter-Efficient Fine-Tuning — 1× in this paper · explained in 2 episodes
• Redundancy — 1× in this paper · explained in 2 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Sim-to-Real Transfer — 1× in this paper · explained in 2 episodes
• Temporal Reasoning — 1× in this paper · explained in 2 episodes
• While Vision-and-Language Navigation — 1× in this paper
• Zero-Shot Transfer — 1× in this paper · explained in 4 episodes

Sources

• VLNVerse: A Benchmark for Vision-Language Navigation with Versatile, Embodied, Realistic Simulation and Evaluation
• HA-VLN 2.0: An Open Benchmark and Leaderboard for Human-Aware Navigation in Discrete and Continuous Environments with Dynamic Multi-Human Interactions
• Nav-R1: Reasoning and Navigation in Embodied Scenes
• Hierarchical Cross-Modal Agent for Robotics Vision-and-Language Navigation
• SASRA: Semantically-aware Spatio-temporal Reasoning Agent for Vision-and-Language Navigation in Continuous Environments
• Language-Aligned Waypoint (LAW) Supervision for Vision-and-Language Navigation in Continuous Environments
• Fast-SmartWay: Panoramic-Free End-to-End Zero-Shot Vision-and-Language Navigation
• Boosting Zero-Shot VLN via Abstract Obstacle Map-Based Waypoint Prediction with TopoGraph-and-VisitInfo-Aware Prompting
• One Agent to Guide Them All: Empowering MLLMs for Vision-and-Language Navigation via Explicit World Representation
• Efficient-VLN: A Simple yet Strong Baseline for Efficient Vision-Language Navigation
• STRIDER: Navigation via Instruction-Aligned Structural Decision Space Optimization
• VLN-Zero: Rapid Exploration and Cache-Enabled Neurosymbolic Vision-Language Planning for Zero-Shot Transfer in Robot Navigation

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