mlsanityData to 14 Oct 2026

NavQ: Learning a Q-Model for Foresighted Vision-and-Language Navigation

arXiv 2510.16457 ↗First posted 18 Oct 2025cs.CV cs.ROcited by 6

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Abstract (arXiv)

In this work we concentrate on the task of goal-oriented Vision-and-Language Navigation (VLN). Existing methods often make decisions based on historical information, overlooking the future implications and long-term outcomes of the actions. In contrast, we aim to develop a foresighted agent. Specifically, we draw upon Q-learning to train a Q-model using large-scale unlabeled trajectory data, in order to learn the general knowledge regarding the layout and object relations within indoor scenes. This model can generate a Q-feature, analogous to the Q-value in traditional Q-network, for each candidate action, which describes the potential future information that may be observed after taking the specific action. Subsequently, a cross-modal future encoder integrates the task-agnostic Q-feature with navigation instructions to produce a set of action scores reflecting future prospects. These scores, when combined with the original scores based on history, facilitate an A*-style searching strategy to effectively explore the regions that are more likely to lead to the destination. Extensive experiments conducted on widely used goal-oriented VLN datasets validate the effectiveness of the proposed method.

Key facts. Cited by 6 papers in the map (data through 14 Oct 2026). Builds on 126 of its 149 references that are in the map. First posted on arXiv 18 Oct 2025.

Builds on

126 of 149 references.

References · 126

  1. 2021Masked Autoencoders Are Scalable Vision Learnerscited by 7,403
  2. 2022BLIP: Bootstrapping Language-Image Pre-training for Unified Vision-Language Understanding and Generationcited by 4,322
  3. 2013Playing Atari with Deep Reinforcement Learningcited by 3,274
  4. 2015Deep Reinforcement Learning with Double Q-learningcited by 1,745
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  6. 2017Vision-and-Language Navigation: Interpreting visually-grounded navigation instructions in real environmentscited by 1,027
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  8. 2021Habitat-Matterport 3D Dataset (HM3D): 1000 Large-scale 3D Environments for Embodied AIcited by 592
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  10. 2020Beyond the Nav-Graph: Vision-and-Language Navigation in Continuous Environmentscited by 441
  11. 2020Room-Across-Room: Multilingual Vision-and-Language Navigation with Dense Spatiotemporal Groundingcited by 414
  12. 2018Speaker-Follower Models for Vision-and-Language Navigationcited by 340
38 more
  1. 2019REVERIE: Remote Embodied Visual Referring Expression in Real Indoor Environmentscited by 333
  2. 2018Reinforced Cross-Modal Matching and Self-Supervised Imitation Learning for Vision-Language Navigationcited by 305
  3. 2020A Recurrent Vision-and-Language BERT for Navigationcited by 302
  4. 2023NavGPT: Explicit Reasoning in Vision-and-Language Navigation with Large Language Modelscited by 280
  5. 2021History Aware Multimodal Transformer for Vision-and-Language Navigationcited by 271
  6. 2019Vision-and-Dialog Navigationcited by 250
  7. 2019Learning to Navigate Unseen Environments: Back Translation with Environmental Dropoutcited by 244
  8. 2024NaVid: Video-based VLM Plans the Next Step for Vision-and-Language Navigationcited by 233
  9. 2020Towards Learning a Generic Agent for Vision-and-Language Navigation via Pre-trainingcited by 231
  10. 2024Agent Q: Advanced Reasoning and Learning for Autonomous AI Agentscited by 208
  11. 2022Think Global, Act Local: Dual-scale Graph Transformer for Vision-and-Language Navigationcited by 193
  12. 2019Vision-Language Navigation with Self-Supervised Auxiliary Reasoning Taskscited by 179
  13. 2020Improving Vision-and-Language Navigation with Image-Text Pairs from the Webcited by 177
  14. 2019Self-Monitoring Navigation Agent via Auxiliary Progress Estimationcited by 176
  15. 2022PONI: Potential Functions for ObjectGoal Navigation with Interaction-free Learningcited by 150
  16. 2024Stop Regressing: Training Value Functions via Classification for Scalable Deep RLcited by 144
  17. 2023Towards Learning a Generalist Model for Embodied Navigationcited by 138
  18. 2023Q-Transformer: Scalable Offline Reinforcement Learning via Autoregressive Q-Functionscited by 131
  19. 2019Stay on the Path: Instruction Fidelity in Vision-and-Language Navigationcited by 130
  20. 2021Airbert: In-domain Pretraining for Vision-and-Language Navigationcited by 130
  21. 2023GridMM: Grid Memory Map for Vision-and-Language Navigationcited by 124
  22. 2022BEVBert: Multimodal Map Pre-training for Language-guided Navigationcited by 122
  23. 2021SOON: Scenario Oriented Object Navigation with Graph-based Explorationcited by 119
  24. 2021Pathdreamer: A World Model for Indoor Navigationcited by 118
  25. 2023Scaling Data Generation in Vision-and-Language Navigationcited by 117
  26. 2020Topological Planning with Transformers for Vision-and-Language Navigationcited by 116
  27. 2023Discuss Before Moving: Visual Language Navigation via Multi-expert Discussionscited by 110
  28. 2019The Regretful Agent: Heuristic-Aided Navigation through Progress Estimationcited by 105
  29. 2022Q-learning Decision Transformer: Leveraging Dynamic Programming for Conditional Sequence Modelling in Offline RLcited by 103
  30. 2019Help, Anna! Visual Navigation with Natural Multimodal Assistance via Retrospective Curiosity-Encouraging Imitation Learningcited by 100
  31. 2020Language and Visual Entity Relationship Graph for Agent Navigationcited by 100
  32. 2024NavGPT-2: Unleashing Navigational Reasoning Capability for Large Vision-Language Modelscited by 98
  33. 2024Q*: Improving Multi-step Reasoning for LLMs with Deliberative Planningcited by 97
  34. 2021Structured Scene Memory for Vision-Language Navigationcited by 95
  35. 2020Sim-to-Real Transfer for Vision-and-Language Navigationcited by 89
  36. 2024MapGPT: Map-Guided Prompting with Adaptive Path Planning for Vision-and-Language Navigationcited by 86
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  38. 2018Look Before You Leap: Bridging Model-Free and Model-Based Reinforcement Learning for Planned-Ahead Vision-and-Language Navigationcited by 84

50 most cited of 126 All 126 (JSON)

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2026: 6.

6 papers.

  1. 2026Trajectory-Diversity-Driven Robust Vision-and-Language Navigationcited by 5
  2. 2026All-day Multi-scenes Lifelong Vision-and-Language Navigation with Tucker Adaptationcited by 2
  3. 2026Turning Adaptation into Assets: Cross-Domain Bridging for Online Vision-Language Navigationcited by 2
  4. 2026A Comprehensive Survey and Systematic Real-World Evaluation of Embodied Vision-and-Language Navigationcited by 1
  5. 2026DART-VLN: Test-Time Memory Decay and Anti-Loop Regularization for Discrete Vision-Language Navigationcited by 0
  6. 2026Query, Align, and Distill: Navigation-Aware Cross-Modal Interaction for Efficient Vision-and-Language Navigationcited by 0

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  1. 2025A Navigation Framework Utilizing Vision-Language Models
  2. 2026FINE: Future-Informed Navigation Encoding for Data-Efficient Vision-Language Navigation
  3. 2026FutureNav: Unified World-Action Modeling for Vision-and-Language Navigation
  4. 2025NavForesee: A Unified Vision-Language World Model for Hierarchical Planning and Dual-Horizon Navigation Prediction
  5. 2024Uni-NaVid: A Video-based Vision-Language-Action Model for Unifying Embodied Navigation Tasks
  6. 2026NavHarness: Adaptive Goals for Agentic Vision-Language Navigation
  7. 2024TINA: Think, Interaction, and Action Framework for Zero-Shot Vision Language Navigation
  8. 2026NavWAM: A Navigation World Action Model for Goal-Conditioned Visual Navigation