mlsanityData to 14 Oct 2026

Language-Aligned Waypoint (LAW) Supervision for Vision-and-Language Navigation in Continuous Environments

arXiv 2109.15207 ↗First posted 30 Sep 2021cs.CV cs.CL cs.ROcited by 94

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Abstract (arXiv)

In the Vision-and-Language Navigation (VLN) task an embodied agent navigates a 3D environment, following natural language instructions. A challenge in this task is how to handle 'off the path' scenarios where an agent veers from a reference path. Prior work supervises the agent with actions based on the shortest path from the agent's location to the goal, but such goal-oriented supervision is often not in alignment with the instruction. Furthermore, the evaluation metrics employed by prior work do not measure how much of a language instruction the agent is able to follow. In this work, we propose a simple and effective language-aligned supervision scheme, and a new metric that measures the number of sub-instructions the agent has completed during navigation.

Key facts. Cited by 94 papers in the map (data through 14 Oct 2026). Builds on 24 of its 28 references that are in the map. First posted on arXiv 30 Sep 2021.

Builds on

24 of 28 references.

References · 24

  1. 2017Attention Is All You Needcited by 60,361
  2. 2015Deep Residual Learning for Image Recognitioncited by 52,096
  3. 2019PyTorch: An Imperative Style, High-Performance Deep Learning Librarycited by 20,305
  4. 2017Matterport3D: Learning from RGB-D Data in Indoor Environmentscited by 1,376
  5. 2019Habitat: A Platform for Embodied AI Researchcited by 1,191
  6. 2017Vision-and-Language Navigation: Interpreting visually-grounded navigation instructions in real environmentscited by 1,027
  7. 2018On Evaluation of Embodied Navigation Agentscited by 547
  8. 2020Beyond the Nav-Graph: Vision-and-Language Navigation in Continuous Environmentscited by 441
  9. 2020Room-Across-Room: Multilingual Vision-and-Language Navigation with Dense Spatiotemporal Groundingcited by 414
  10. 2019DD-PPO: Learning Near-Perfect PointGoal Navigators from 2.5 Billion Framescited by 362
  11. 2018Speaker-Follower Models for Vision-and-Language Navigationcited by 340
  12. 2018Reinforced Cross-Modal Matching and Self-Supervised Imitation Learning for Vision-Language Navigationcited by 305
12 more
  1. 2019Learning to Navigate Unseen Environments: Back Translation with Environmental Dropoutcited by 244
  2. 2018Touchdown: Natural Language Navigation and Spatial Reasoning in Visual Street Environmentscited by 239
  3. 2019Self-Monitoring Navigation Agent via Auxiliary Progress Estimationcited by 176
  4. 2019Stay on the Path: Instruction Fidelity in Vision-and-Language Navigationcited by 130
  5. 2020Topological Planning with Transformers for Vision-and-Language Navigationcited by 116
  6. 2019General Evaluation for Instruction Conditioned Navigation using Dynamic Time Warpingcited by 105
  7. 2020Object-and-Action Aware Model for Visual Language Navigationcited by 77
  8. 2020Sub-Instruction Aware Vision-and-Language Navigationcited by 66
  9. 2019Are You Looking? Grounding to Multiple Modalities in Vision-and-Language Navigationcited by 55
  10. 2020BabyWalk: Going Farther in Vision-and-Language Navigation by Taking Baby Stepscited by 49
  11. 2019Chasing Ghosts: Instruction Following as Bayesian State Trackingcited by 41
  12. 2020Retouchdown: Adding Touchdown to StreetLearn as a Shareable Resource for Language Grounding Tasks in Street Viewcited by 18

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2022: 9; 2023: 14; 2024: 10; 2025: 25; 2026: 36.

94 papers.

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  1. 2024NaVid: Video-based VLM Plans the Next Step for Vision-and-Language Navigationcited by 233
  2. 2024NaVILA: Legged Robot Vision-Language-Action Model for Navigationcited by 211
  3. 2023ETPNav: Evolving Topological Planning for Vision-Language Navigation in Continuous Environmentscited by 169
  4. 2024Uni-NaVid: A Video-based Vision-Language-Action Model for Unifying Embodied Navigation Taskscited by 156
  5. 2022Bridging the Gap Between Learning in Discrete and Continuous Environments for Vision-and-Language Navigationcited by 132
  6. 2023GridMM: Grid Memory Map for Vision-and-Language Navigationcited by 124
  7. 2023AerialVLN: Vision-and-Language Navigation for UAVscited by 121
  8. 2025StreamVLN: Streaming Vision-and-Language Navigation via SlowFast Context Modelingcited by 118
  9. 2022Vision-and-Language Navigation: A Survey of Tasks, Methods, and Future Directionscited by 117
  10. 2023Scaling Data Generation in Vision-and-Language Navigationcited by 117
  11. 2022Cross-modal Map Learning for Vision and Language Navigationcited by 91
  12. 2025JanusVLN: Decoupling Semantics and Spatiality with Dual Implicit Memory for Vision-Language Navigationcited by 89
38 more
  1. 2022Sim-2-Sim Transfer for Vision-and-Language Navigation in Continuous Environmentscited by 86
  2. 2022Weakly-Supervised Multi-Granularity Map Learning for Vision-and-Language Navigationcited by 86
  3. 2023DREAMWALKER: Mental Planning for Continuous Vision-Language Navigationcited by 85
  4. 2024Vision-and-Language Navigation Today and Tomorrow: A Survey in the Era of Foundation Modelscited by 79
  5. 2024Affordances-Oriented Planning using Foundation Models for Continuous Vision-Language Navigationcited by 65
  6. 2025VLN-R1: Vision-Language Navigation via Reinforcement Fine-Tuningcited by 63
  7. 2023A2Nav: Action-Aware Zero-Shot Robot Navigation by Exploiting Vision-and-Language Ability of Foundation Modelscited by 62
  8. 2022Learning from Unlabeled 3D Environments for Vision-and-Language Navigationcited by 50
  9. 2024Constraint-Aware Zero-Shot Vision-Language Navigation in Continuous Environmentscited by 50
  10. 2022Retrospectives on the Embodied AI Workshopcited by 46
  11. 2023Improving Vision-and-Language Navigation by Generating Future-View Image Semanticscited by 46
  12. 2025Openfly: A comprehensive platform for aerial vision-language navigationcited by 46
  13. 2025NavMorph: A Self-Evolving World Model for Vision-and-Language Navigation in Continuous Environmentscited by 45
  14. 2025Embodied-Reasoner: Synergizing Visual Search, Reasoning, and Action for Embodied Interactive Taskscited by 44
  15. 2023Learning Navigational Visual Representations with Semantic Map Supervisioncited by 43
  16. 2025CityNavAgent: Aerial Vision-and-Language Navigation with Hierarchical Semantic Planning and Global Memorycited by 32
  17. 2025CorrectNav: Self-Correction Flywheel Empowers Vision-Language-Action Navigation Modelcited by 27
  18. 2022Last-Mile Embodied Visual Navigationcited by 25
  19. 2023Fast-Slow Test-Time Adaptation for Online Vision-and-Language Navigationcited by 25
  20. 2025Rethinking the Embodied Gap in Vision-and-Language Navigation: A Holistic Study of Physical and Visual Disparitiescited by 25
  21. 2026ABot-N0: Technical Report on the VLA Foundation Model for Versatile Embodied Navigationcited by 25
  22. 2025AstraNav-World: World Model for Foresight Control and Consistencycited by 17
  23. 2025MonoDream: Monocular Vision-Language Navigation with Panoramic Dreamingcited by 16
  24. 2025NavForesee: A Unified Vision-Language World Model for Hierarchical Planning and Dual-Horizon Navigation Predictioncited by 16
  25. 2025MobileVLA-R1: Reinforcing Vision-Language-Action for Mobile Robotscited by 15
  26. 2025ActiveVLN: Towards Active Exploration via Multi-Turn RL in Vision-and-Language Navigationcited by 13
  27. 2023MLANet: Multi-Level Attention Network with Sub-instruction for Continuous Vision-and-Language Navigationcited by 11
  28. 2023MOPA: Modular Object Navigation with PointGoal Agentscited by 11
  29. 2023CorNav: Autonomous Agent with Self-Corrected Planning for Zero-Shot Vision-and-Language Navigationcited by 10
  30. 2025Ground-level Viewpoint Vision-and-Language Navigation in Continuous Environmentscited by 10
  31. 2026AwareVLN: Reasoning with Self-awareness for Vision-Language Navigationcited by 10
  32. 2023Graph based Environment Representation for Vision-and-Language Navigation in Continuous Environmentscited by 9
  33. 2023Exploitation-Guided Exploration for Semantic Embodied Navigationcited by 9
  34. 2024Vision-Language Navigation with Embodied Intelligence: A Surveycited by 9
  35. 2026AgentVLN: Towards Agentic Vision-and-Language Navigationcited by 9
  36. 2025Unseen from Seen: Rewriting Observation-Instruction Using Foundation Models for Augmenting Vision-Language Navigationcited by 8
  37. 2025VLN-Zero: Rapid Exploration and Cache-Enabled Neurosymbolic Vision-Language Planning for Zero-Shot Transfer in Robot Navigationcited by 8
  38. 2026Dual-Anchoring: Addressing State Drift in Vision-Language Navigationcited by 7

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