GPT-6-Astra Lights Up Embodied Navigation: Evaluation in Zero-Shot Vision-and-Language Navigation in Continuous Environments

arXiv:2609.29861 · cs.RO · Submitted 2026-09-24 · Read on arXiv

cs.RO

Submitted: 2026-09-24

Updated: 2026-09-25

Project page: https://daiguangzhao.github.io/gpt-6-astra-for-vln

Terminology

• Vision-and-Language Navigation — 19× in this paper
• Foundation Model — 10× in this paper · explained in 3 episodes
• Fine-Tuning — 8× in this paper · explained in 5 episodes
• Verification — 6× in this paper · explained in 2 episodes
• AgenticNav — 5× in this paper · explained in 1 episode
• Foundation Models — 4× in this paper · explained in 7 episodes
• Grounding — 4× in this paper · explained in 3 episodes
• Accuracy — 2× in this paper · explained in 1 episode
• Action Space — 1× in this paper · explained in 1 episode
• Affordance — 1× in this paper · explained in 1 episode
• Agent Harness — 1× in this paper · explained in 2 episodes
• Benchmark — 1× in this paper · explained in 2 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Model Context Protocol — 1× in this paper
• Model Context Protocol (MCP) — 1× in this paper · explained in 8 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Unified Framework — 1× in this paper · explained in 5 episodes
• World Model — 1× in this paper · explained in 7 episodes

Sources

• HarnessVLN: Unifying Training-Free Embodied Navigation through an Agent Harness
• ABot-N0: Technical Report on the VLA Foundation Model for Versatile Embodied Navigation
• Fast-SmartWay: Panoramic-Free End-to-End Zero-Shot Vision-and-Language Navigation
• DreamNav: A Trajectory-Based Imaginative Framework for Zero-Shot Vision-and-Language Navigation
• Image2Sim: Scaling Embodied Navigation via Generative Neural Simulator
• Ground Slow, Move Fast: A Dual-System Foundation Model for Generalizable Vision-and-Language Navigation
• AstraNav-World: World Model for Foresight Control and Consistency
• AgenticNav: Zero-Shot Vision-and-Language Navigation as a Tool-Calling Harness
• Artificial Intelligence Index Report 2025
• One MLLM, One Call: Efficient Zero-Shot Vision-and-Language Navigation via Spatial-Aware Waypoints
• SpatialNav: Leveraging Spatial Scene Graphs for Zero-Shot Vision-and-Language Navigation
• SpatialAnt: Autonomous Zero-Shot Robot Navigation via Active Scene Reconstruction and Visual Anticipation
• Qwen-RobotNav Technical Report: A Scalable Navigation Model Designed for an Agentic Navigation System
• Embodied Agents Take Control: Minimal-Interface Zero-Shot Agents Rival Industrial-Scale Policies in Vision-and-Language Navigation

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