# PIG-Nav: Key Insights for Pretrained Image Goal Navigation Models

arXiv: https://arxiv.org/abs/2507.17220 · HTML: https://mlsanity.com/paper/2507.17220/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 39 of its 47 references that are in the map.
- First posted on arXiv 23 Jul 2025.

## Builds on (most cited first, 30 of 39)

- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [DINOv2: Learning Robust Visual Features without Supervision](https://mlsanity.com/paper/2304.07193/) (2023)
- [Masked Autoencoders Are Scalable Vision Learners](https://mlsanity.com/paper/2111.06377/) (2021)
- [Qwen2-VL: Enhancing Vision-Language Model's Perception of the World at Any Resolution](https://mlsanity.com/paper/2409.12191/) (2024)
- [BDD100K: A Diverse Driving Dataset for Heterogeneous Multitask Learning](https://mlsanity.com/paper/1805.04687/) (2018)
- [Vision-and-Language Navigation: Interpreting visually-grounded navigation instructions in real environments](https://mlsanity.com/paper/1711.07280/) (2017)
- [Habitat 2.0: Training Home Assistants to Rearrange their Habitat](https://mlsanity.com/paper/2106.14405/) (2021)
- [Object Goal Navigation using Goal-Oriented Semantic Exploration](https://mlsanity.com/paper/2007.00643/) (2020)
- [Target-driven Visual Navigation in Indoor Scenes using Deep Reinforcement Learning](https://mlsanity.com/paper/1609.05143/) (2016)
- [NoMaD: Goal Masked Diffusion Policies for Navigation and Exploration](https://mlsanity.com/paper/2310.07896/) (2023)
- [NaVid: Video-based VLM Plans the Next Step for Vision-and-Language Navigation](https://mlsanity.com/paper/2402.15852/) (2024)
- [ViNT: A Foundation Model for Visual Navigation](https://mlsanity.com/paper/2306.14846/) (2023)
- [Cognitive Mapping and Planning for Visual Navigation](https://mlsanity.com/paper/1702.03920/) (2017)
- [A Study on Overfitting in Deep Reinforcement Learning](https://mlsanity.com/paper/1804.06893/) (2018)
- [GNM: A General Navigation Model to Drive Any Robot](https://mlsanity.com/paper/2210.03370/) (2022)
- [The pitfalls of next-token prediction](https://mlsanity.com/paper/2403.06963/) (2024)
- [Uni-NaVid: A Video-based Vision-Language-Action Model for Unifying Embodied Navigation Tasks](https://mlsanity.com/paper/2412.06224/) (2024)
- [Socially Compliant Navigation Dataset (SCAND): A Large-Scale Dataset of Demonstrations for Social Navigation](https://mlsanity.com/paper/2203.15041/) (2022)
- [Rapid Exploration for Open-World Navigation with Latent Goal Models](https://mlsanity.com/paper/2104.05859/) (2021)
- [NavGPT-2: Unleashing Navigational Reasoning Capability for Large Vision-Language Models](https://mlsanity.com/paper/2407.12366/) (2024)
- [ViNG: Learning Open-World Navigation with Visual Goals](https://mlsanity.com/paper/2012.09812/) (2020)
- [Self-supervised Deep Reinforcement Learning with Generalized Computation Graphs for Robot Navigation](https://mlsanity.com/paper/1709.10489/) (2017)
- [HM3D-OVON: A Dataset and Benchmark for Open-Vocabulary Object Goal Navigation](https://mlsanity.com/paper/2409.14296/) (2024)
- [OVRL-V2: A simple state-of-art baseline for ImageNav and ObjectNav](https://mlsanity.com/paper/2303.07798/) (2023)
- [Affordances-Oriented Planning using Foundation Models for Continuous Vision-Language Navigation](https://mlsanity.com/paper/2407.05890/) (2024)
- [Long-Horizon Visual Planning with Goal-Conditioned Hierarchical Predictors](https://mlsanity.com/paper/2006.13205/) (2020)
- [SACSoN: Scalable Autonomous Control for Social Navigation](https://mlsanity.com/paper/2306.01874/) (2023)
- [Deep Visual MPC-Policy Learning for Navigation](https://mlsanity.com/paper/1903.02749/) (2019)
- [VTNet: Visual Transformer Network for Object Goal Navigation](https://mlsanity.com/paper/2105.09447/) (2021)
- [Renderable Neural Radiance Map for Visual Navigation](https://mlsanity.com/paper/2303.00304/) (2023)

## Abstract (arXiv)

Recent studies have explored pretrained (foundation) models for vision-based robotic navigation, aiming to achieve generalizable navigation and positive transfer across diverse environments while enhancing zero-shot performance in unseen settings. In this work, we introduce PIG-Nav (Pretrained Image-Goal Navigation), a new approach that further investigates pretraining strategies for vision-based navigation models and contributes in two key areas. Model-wise, we identify two critical design choices that consistently improve the performance of pretrained navigation models: (1) integrating an early-fusion network structure to combine visual observations and goal images via appropriately pretrained Vision Transformer (ViT) image encoder, and (2) introducing suitable auxiliary tasks to enhance global navigation representation learning, thus further improving navigation performance. Dataset-wise, we propose a novel data preprocessing pipeline for efficiently labeling large-scale game video datasets for navigation model training. We demonstrate that augmenting existing open navigation datasets with diverse gameplay videos improves model performance. Our model achieves an average improvement of 22.6% in zero-shot settings and a 37.5% improvement in fine-tuning settings over existing visual navigation foundation models in two complex simulated environments and one real-world environment. These results advance the state-of-the-art in pretrained image-goal navigation models. Notably, our model maintains competitive performance while requiring significantly less fine-tuning data, highlighting its potential for real-world deployment with minimal labeled supervision.