Affordance-Conditioned Decision Making: Bridging the Semantic-Spatial Gap in Zero-Shot Cross-Floor Vision-and-Language Navigation

arXiv:2609.32292 · cs.RO, cs.AI · Submitted 2026-09-26 · Read on arXiv

cs.RO, cs.AI

Submitted: 2026-09-26

Updated: 2026-09-29

Terminology

• Affordance — 54× in this paper · explained in 1 episode
• Grounding — 8× in this paper · explained in 3 episodes
• Ablation — 5× in this paper · explained in 1 episode
• Benchmark — 5× in this paper · explained in 2 episodes
• Transformer — 5× in this paper · explained in 2 episodes
• Accuracy — 3× in this paper · explained in 1 episode
• Action Decoder — 3× in this paper · explained in 1 episode
• Foundation Model — 3× in this paper · explained in 3 episodes
• Embeddings — 2× in this paper · explained in 2 episodes
• Failure Modes — 2× in this paper · explained in 3 episodes
• IEEE International Conference on Robotics and Automation — 2× in this paper
• Motion Primitives — 2× in this paper · explained in 2 episodes
• Robustness — 2× in this paper · explained in 5 episodes
• Vision-language models — 2× in this paper · explained in 2 episodes
• Ablation Studies — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Aggregation — 1× in this paper · explained in 1 episode
• Attention Mechanism — 1× in this paper · explained in 3 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• Decode — 1× in this paper · explained in 2 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Iterative Refinement — 1× in this paper · explained in 3 episodes
• Latent Representation — 1× in this paper · explained in 2 episodes
• Normalized Dynamic Time Warping — 1× in this paper
• Oracle Success Rate — 1× in this paper
• Preference-refined Affordance-Conditioned Execution — 1× in this paper
• Regret — 1× in this paper · explained in 3 episodes
• Semantic Understanding — 1× in this paper · explained in 2 episodes
• Zero-Shot Transfer — 1× in this paper · explained in 4 episodes

Sources

• VLN-Zero: Rapid Exploration and Cache-Enabled Neurosymbolic Vision-Language Planning for Zero-Shot Transfer in Robot Navigation
• MANSION: Multi-floor lANguage-to-3D Scene generatIOn for loNg-horizon tasks
• Constraint-Aware Zero-Shot Vision-Language Navigation in Continuous Environments
• ABot-N0: Technical Report on the VLA Foundation Model for Versatile Embodied Navigation
• AERR-Nav: Adaptive Exploration-Recovery-Reminiscing Strategy for Zero-Shot Object Navigation
• Ground Slow, Move Fast: A Dual-System Foundation Model for Generalizable Vision-and-Language Navigation
• NaviTrace: Evaluating Embodied Navigation of Vision-Language Models
• NaVid: Video-based VLM Plans the Next Step for Vision-and-Language Navigation
• Qwen-RobotWorld Technical Report: Unifying Embodied World Modeling through Language-Conditioned Video Generation
• 3DGSNav: Enhancing Vision-Language Model Reasoning for Object Navigation via Active 3D Gaussian Splatting
• Three-Step Nav: A Hierarchical Global-Local Planner for Zero-Shot Vision-and-Language Navigation

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