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Topological Planning with Transformers for Vision-and-Language Navigation

arXiv 2012.05292 ↗First posted 9 Dec 2020cs.RO cs.AI cs.CLcited by 115

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Abstract (arXiv)

Conventional approaches to vision-and-language navigation (VLN) are trained end-to-end but struggle to perform well in freely traversable environments. Inspired by the robotics community, we propose a modular approach to VLN using topological maps. Given a natural language instruction and topological map, our approach leverages attention mechanisms to predict a navigation plan in the map. The plan is then executed with low-level actions (e.g. forward, rotate) using a robust controller. Experiments show that our method outperforms previous end-to-end approaches, generates interpretable navigation plans, and exhibits intelligent behaviors such as backtracking.

Key facts. Cited by 115 papers in the map (data through 7 Oct 2026). First posted on arXiv 9 Dec 2020.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 10; 2022: 26; 2023: 15; 2024: 16; 2025: 20; 2026: 28.

115 papers.

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  1. 2021Transformers in Vision: A Surveycited by 1,009
  2. 2022Multimodal Learning with Transformers: A Surveycited by 399
  3. 2023NavGPT: Explicit Reasoning in Vision-and-Language Navigation with Large Language Modelscited by 274
  4. 2024NaVid: Video-based VLM Plans the Next Step for Vision-and-Language Navigationcited by 222
  5. 2024NaVILA: Legged Robot Vision-Language-Action Model for Navigationcited by 201
  6. 2022Think Global, Act Local: Dual-scale Graph Transformer for Vision-and-Language Navigationcited by 187
  7. 2023ETPNav: Evolving Topological Planning for Vision-Language Navigation in Continuous Environmentscited by 165
  8. 2022Open-vocabulary Queryable Scene Representations for Real World Planningcited by 159
  9. 2022Bridging the Gap Between Learning in Discrete and Continuous Environments for Vision-and-Language Navigationcited by 127
  10. 2021Learning Language-Conditioned Robot Behavior from Offline Data and Crowd-Sourced Annotationcited by 117
  11. 2022BEVBert: Multimodal Map Pre-training for Language-guided Navigationcited by 117
  12. 2023GridMM: Grid Memory Map for Vision-and-Language Navigationcited by 117
38 more
  1. 2022Vision-and-Language Navigation: A Survey of Tasks, Methods, and Future Directionscited by 116
  2. 2025StreamVLN: Streaming Vision-and-Language Navigation via SlowFast Context Modelingcited by 107
  3. 2024NavGPT-2: Unleashing Navigational Reasoning Capability for Large Vision-Language Modelscited by 96
  4. 2022Cross-modal Map Learning for Vision and Language Navigationcited by 91
  5. 2021LanguageRefer: Spatial-Language Model for 3D Visual Groundingcited by 88
  6. 2021Language-Aligned Waypoint (LAW) Supervision for Vision-and-Language Navigation in Continuous Environmentscited by 87
  7. 2022Weakly-Supervised Multi-Granularity Map Learning for Vision-and-Language Navigationcited by 86
  8. 2024MapGPT: Map-Guided Prompting with Adaptive Path Planning for Vision-and-Language Navigationcited by 85
  9. 2022Sim-2-Sim Transfer for Vision-and-Language Navigation in Continuous Environmentscited by 80
  10. 2024Vision-and-Language Navigation Today and Tomorrow: A Survey in the Era of Foundation Modelscited by 79
  11. 2023Bird's-Eye-View Scene Graph for Vision-Language Navigationcited by 71
  12. 2024Volumetric Environment Representation for Vision-Language Navigationcited by 63
  13. 2023A2Nav: Action-Aware Zero-Shot Robot Navigation by Exploiting Vision-and-Language Ability of Foundation Modelscited by 61
  14. 2025VLN-R1: Vision-Language Navigation via Reinforcement Fine-Tuningcited by 61
  15. 2021Embodied BERT: A Transformer Model for Embodied, Language-guided Visual Task Completioncited by 57
  16. 2022A Survey on Graph Neural Networks and Graph Transformers in Computer Vision: A Task-Oriented Perspectivecited by 56
  17. 2022CLIP-Nav: Using CLIP for Zero-Shot Vision-and-Language Navigationcited by 55
  18. 2022Counterfactual Cycle-Consistent Learning for Instruction Following and Generation in Vision-Language Navigationcited by 50
  19. 2022Learning from Unlabeled 3D Environments for Vision-and-Language Navigationcited by 49
  20. 2024Constraint-Aware Zero-Shot Vision-Language Navigation in Continuous Environmentscited by 49
  21. 2021SASRA: Semantically-aware Spatio-temporal Reasoning Agent for Vision-and-Language Navigation in Continuous Environmentscited by 48
  22. 2023Improving Vision-and-Language Navigation by Generating Future-View Image Semanticscited by 46
  23. 2025Openfly: A comprehensive platform for aerial vision-language navigationcited by 43
  24. 2025Embodied-Reasoner: Synergizing Visual Search, Reasoning, and Action for Embodied Interactive Taskscited by 43
  25. 2025NavMorph: A Self-Evolving World Model for Vision-and-Language Navigation in Continuous Environmentscited by 41
  26. 2021Catch Me If You Hear Me: Audio-Visual Navigation in Complex Unmapped Environments with Moving Soundscited by 40
  27. 2022Iterative Vision-and-Language Navigationcited by 34
  28. 2021Vision-Language Navigation: A Survey and Taxonomycited by 33
  29. 2025CityNavAgent: Aerial Vision-and-Language Navigation with Hierarchical Semantic Planning and Global Memorycited by 30
  30. 2022Towards Versatile Embodied Navigationcited by 26
  31. 2025CorrectNav: Self-Correction Flywheel Empowers Vision-Language-Action Navigation Modelcited by 26
  32. 2023Fast-Slow Test-Time Adaptation for Online Vision-and-Language Navigationcited by 25
  33. 2025Prior Does Matter: Visual Navigation via Denoising Diffusion Bridge Modelscited by 24
  34. 2026ABot-N0: Technical Report on the VLA Foundation Model for Versatile Embodied Navigationcited by 23
  35. 2022Learning Active Camera for Multi-Object Navigationcited by 20
  36. 2023Graph Transformer GANs for Graph-Constrained House Generationcited by 19
  37. 2024Vision-Language Navigation with Energy-Based Policycited by 19
  38. 2023A Dual Semantic-Aware Recurrent Global-Adaptive Network For Vision-and-Language Navigationcited by 18

50 most cited of 115 All 115 (JSON)