WayFinder: Hierarchical Visual-Language-Action for Zero-Shot Waypoint Generation and Low-Level Kinematic Control

arXiv:2609.37922 · cs.RO · Submitted 2026-09-29 · Read on arXiv

cs.RO

Submitted: 2026-09-29

Updated: 2026-09-29

Code: https://github.com/WreckItTim/OmniNaviPy

Terminology

• Fine-Tuning — 11× in this paper · explained in 5 episodes
• Accuracy — 7× in this paper · explained in 1 episode
• Generalization — 6× in this paper · explained in 13 episodes
• Fidelity — 4× in this paper · explained in 2 episodes
• Ablation — 3× in this paper · explained in 1 episode
• Ablation study — 3× in this paper · explained in 1 episode
• Action Space — 3× in this paper · explained in 1 episode
• Computational overhead — 3× in this paper · explained in 2 episodes
• Decoupling — 3× in this paper · explained in 2 episodes
• Deep Reinforcement Learning — 3× in this paper · explained in 2 episodes
• Deep Reinforcement Learning (DRL) — 3× in this paper · explained in 2 episodes
• Multimodal Large Language Model — 3× in this paper
• Reinforcement Learning — 3× in this paper · explained in 4 episodes
• Hierarchical Framework — 2× in this paper · explained in 2 episodes
• Reward Function — 2× in this paper · explained in 2 episodes
• VLA Models — 2× in this paper · explained in 3 episodes
• Adaptation — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Attention Mechanism — 1× in this paper · explained in 3 episodes
• Benchmark — 1× in this paper · explained in 2 episodes
• Catastrophic Forgetting — 1× in this paper · explained in 5 episodes
• Convolutional Neural Network — 1× in this paper
• Deep Q-Networks — 1× in this paper
• Distillation — 1× in this paper · explained in 2 episodes
• Distribution Shift — 1× in this paper · explained in 6 episodes
• Edge Devices — 1× in this paper · explained in 2 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• Feature Extraction — 1× in this paper · explained in 2 episodes
• Hallucination — 1× in this paper · explained in 4 episodes
• Human-in-the-Loop — 1× in this paper · explained in 3 episodes
• Instruction Tuning — 1× in this paper · explained in 2 episodes
• Loss Function — 1× in this paper · explained in 2 episodes
• Markov Decision Process (MDP) — 1× in this paper · explained in 11 episodes
• Prompt Engineering — 1× in this paper · explained in 4 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Semantic Alignment — 1× in this paper · explained in 3 episodes
• Tokenization — 1× in this paper · explained in 2 episodes
• Vision-Language Models (VLMs) — 1× in this paper · explained in 6 episodes
• Vision-language models — 1× in this paper · explained in 2 episodes

Sources

• Kimi-VL Technical Report
• Distilling the Knowledge in a Neural Network
• OpenVLA: An Open-Source Vision-Language-Action Model
• CADENCE: Context-Adaptive Depth Estimation for Navigation and Computational Efficiency

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