# Cross from Left to Right Brain: Adaptive Text Dreamer for Vision-and-Language Navigation

arXiv: https://arxiv.org/abs/2505.20897 · HTML: https://mlsanity.com/paper/2505.20897/

## Key facts

- Cited by 17 papers in the map (data through 14 Oct 2026).
- Builds on 101 of its 108 references that are in the map.
- First posted on arXiv 27 May 2025.

## Builds on (most cited first, 30 of 101)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Language Models are Few-Shot Learners](https://mlsanity.com/paper/2005.14165/) (2020)
- [GPT-4 Technical Report](https://mlsanity.com/paper/2303.08774/) (2023)
- [LoRA: Low-Rank Adaptation of Large Language Models](https://mlsanity.com/paper/2106.09685/) (2021)
- [3D Gaussian Splatting for Real-Time Radiance Field Rendering](https://mlsanity.com/paper/2308.04079/) (2023)
- [BLIP-2: Bootstrapping Language-Image Pre-training with Frozen Image Encoders and Large Language Models](https://mlsanity.com/paper/2301.12597/) (2023)
- [Qwen2.5-VL Technical Report](https://mlsanity.com/paper/2502.13923/) (2025)
- [Qwen2.5 Technical Report](https://mlsanity.com/paper/2412.15115/) (2024)
- [Parameter-Efficient Transfer Learning for NLP](https://mlsanity.com/paper/1902.00751/) (2019)
- [Instant Neural Graphics Primitives with a Multiresolution Hash Encoding](https://mlsanity.com/paper/2201.05989/) (2022)
- [InstructBLIP: Towards General-purpose Vision-Language Models with Instruction Tuning](https://mlsanity.com/paper/2305.06500/) (2023)
- [π0: A Vision-Language-Action Flow Model for General Robot Control](https://mlsanity.com/paper/2410.24164/) (2024)
- [Mip-NeRF: A Multiscale Representation for Anti-Aliasing Neural Radiance Fields](https://mlsanity.com/paper/2103.13415/) (2021)
- [Visual Prompt Tuning](https://mlsanity.com/paper/2203.12119/) (2022)
- [Vision-and-Language Navigation: Interpreting visually-grounded navigation instructions in real environments](https://mlsanity.com/paper/1711.07280/) (2017)
- [ALFRED: A Benchmark for Interpreting Grounded Instructions for Everyday Tasks](https://mlsanity.com/paper/1912.01734/) (2019)
- [pixelSplat: 3D Gaussian Splats from Image Pairs for Scalable Generalizable 3D Reconstruction](https://mlsanity.com/paper/2312.12337/) (2023)
- [MVSplat: Efficient 3D Gaussian Splatting from Sparse Multi-View Images](https://mlsanity.com/paper/2403.14627/) (2024)
- [On Evaluation of Embodied Navigation Agents](https://mlsanity.com/paper/1807.06757/) (2018)
- [LLM-Planner: Few-Shot Grounded Planning for Embodied Agents with Large Language Models](https://mlsanity.com/paper/2212.04088/) (2022)
- [Beyond the Nav-Graph: Vision-and-Language Navigation in Continuous Environments](https://mlsanity.com/paper/2004.02857/) (2020)
- [LM-Nav: Robotic Navigation with Large Pre-Trained Models of Language, Vision, and Action](https://mlsanity.com/paper/2207.04429/) (2022)
- [Room-Across-Room: Multilingual Vision-and-Language Navigation with Dense Spatiotemporal Grounding](https://mlsanity.com/paper/2010.07954/) (2020)
- [AgiBot World Colosseo: A Large-scale Manipulation Platform for Scalable and Intelligent Embodied Systems](https://mlsanity.com/paper/2503.06669/) (2025)
- [An Embodied Generalist Agent in 3D World](https://mlsanity.com/paper/2311.12871/) (2023)
- [Speaker-Follower Models for Vision-and-Language Navigation](https://mlsanity.com/paper/1806.02724/) (2018)
- [Embodied Question Answering](https://mlsanity.com/paper/1711.11543/) (2017)
- [REVERIE: Remote Embodied Visual Referring Expression in Real Indoor Environments](https://mlsanity.com/paper/1904.10151/) (2019)
- [Reinforced Cross-Modal Matching and Self-Supervised Imitation Learning for Vision-Language Navigation](https://mlsanity.com/paper/1811.10092/) (2018)
- [A Recurrent Vision-and-Language BERT for Navigation](https://mlsanity.com/paper/2011.13922/) (2020)

## Built on by (most cited first, 17 of 17)

- [GaussianDWM: 3D Gaussian Driving World Model for Unified Scene Understanding and Multi-Modal Generation](https://mlsanity.com/paper/2512.23180/) (2025)
- [PALM: Progress-Aware Policy Learning via Affordance Reasoning for Long-Horizon Robotic Manipulation](https://mlsanity.com/paper/2601.07060/) (2026)
- [Exploring the Underwater World Segmentation without Extra Training](https://mlsanity.com/paper/2511.07923/) (2025)
- [MARIS: Marine Open-Vocabulary Instance Segmentation with Geometric Enhancement and Semantic Alignment](https://mlsanity.com/paper/2510.15398/) (2025)
- [Aerial World Model for Long-horizon Visual Generation and Navigation in 3D Space](https://mlsanity.com/paper/2512.21887/) (2025)
- [Instruction Anchor: Dissecting the Mechanistic Dynamics of Modality Arbitration](https://mlsanity.com/paper/2602.03677/) (2026)
- [textscNaVIDA: Vision-Language Navigation with Inverse Dynamics Augmentation](https://mlsanity.com/paper/2601.18188/) (2026)
- [Decentralized Attention Fails Centralized Signals: Rethinking Transformers for Medical Time Series](https://mlsanity.com/paper/2602.18473/) (2026)
- [ProFocus: Proactive Perception and Focused Reasoning in Vision-and-Language Navigation](https://mlsanity.com/paper/2603.05530/) (2026)
- [Fine-tuning is Not Enough: A Parallel Framework for Collaborative Imitation and Reinforcement Learning in End-to-end Autonomous Driving](https://mlsanity.com/paper/2603.13842/) (2026)
- [Closed-Loop Action Chunks with Dynamic Corrections for Training-Free Diffusion Policy](https://mlsanity.com/paper/2603.01953/) (2026)
- [LISA: A Layer-wise Integration and Suppression Approach for Hallucination Mitigation in Multimodal Large Language Models](https://mlsanity.com/paper/2507.19110/) (2025)
- [Learning Transferable Temporal Primitives for Video Reasoning via Synthetic Videos](https://mlsanity.com/paper/2603.17693/) (2026)
- [Towards Dual-Brain Minimal Sufficient Representation for Vision-Language Navigation](https://mlsanity.com/paper/2607.23181/) (2026)
- [GaussianDWM++: Language-Grounded 3D Gaussian Driving World Model for Unified Scene Understanding, Editing, and Multi-Modal Generation](https://mlsanity.com/paper/2608.16234/) (2026)
- [Devils in Question Relay: Source-Conditioned Relay Steering to Mitigate Hallucinations in Audio-visual Large Language Models](https://mlsanity.com/paper/2609.37568/) (2026)
- [Robust Vision-Language Navigation with Awareness of Instruction-Execution Progress](https://mlsanity.com/paper/2610.13104/) (2026)

## Abstract (arXiv)

Vision-and-Language Navigation (VLN) requires the agent to navigate by following natural instructions under partial observability, making it difficult to align perception with language. Recent methods mitigate this by imagining future scenes, yet they rely on vision-based synthesis, leading to high computational cost and redundant details. To this end, we propose to adaptively imagine key environmental semantics via textitlanguage form, enabling a more reliable and efficient strategy. Specifically, we introduce a novel Adaptive Text Dreamer (ATD), a dual-branch self-guided imagination policy built upon a large language model (LLM). ATD is designed with a human-like left-right brain architecture, where the left brain focuses on logical integration, and the right brain is responsible for imaginative prediction of future scenes. To achieve this, we fine-tune only the Q-former within both brains to efficiently activate domain-specific knowledge in the LLM, enabling dynamic updates of logical reasoning and imagination during navigation. Furthermore, we introduce a cross-interaction mechanism to regularize the imagined outputs and inject them into a navigation expert module, allowing ATD to jointly exploit both the reasoning capacity of the LLM and the expertise of the navigation model. We conduct extensive experiments on the R2R benchmark, where ATD achieves state-of-the-art performance with fewer parameters. The code is hrefhttps://github.com/zhangpingrui/Adaptive-Text-Dreamerhere.