# Lifelong Embodied Navigation Learning

arXiv: https://arxiv.org/abs/2603.06073 · HTML: https://mlsanity.com/paper/2603.06073/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Builds on 52 of its 66 references that are in the map.
- First posted on arXiv 6 Mar 2026.

## Builds on (most cited first, 30 of 52)

- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [Visual Instruction Tuning](https://mlsanity.com/paper/2304.08485/) (2023)
- [Overcoming catastrophic forgetting in neural networks](https://mlsanity.com/paper/1612.00796/) (2016)
- [Delving Deep into Rectifiers: Surpassing Human-Level Performance on ImageNet Classification](https://mlsanity.com/paper/1502.01852/) (2015)
- [Learning without Forgetting](https://mlsanity.com/paper/1606.09282/) (2016)
- [iCaRL: Incremental Classifier and Representation Learning](https://mlsanity.com/paper/1611.07725/) (2016)
- [Vision-and-Language Navigation: Interpreting visually-grounded navigation instructions in real environments](https://mlsanity.com/paper/1711.07280/) (2017)
- [A Comprehensive Survey of Continual Learning: Theory, Method and Application](https://mlsanity.com/paper/2302.00487/) (2023)
- [EVA-CLIP: Improved Training Techniques for CLIP at Scale](https://mlsanity.com/paper/2303.15389/) (2023)
- [A Comprehensive Overview of Large Language Models](https://mlsanity.com/paper/2307.06435/) (2023)
- [Beyond the Nav-Graph: Vision-and-Language Navigation in Continuous Environments](https://mlsanity.com/paper/2004.02857/) (2020)
- [Room-Across-Room: Multilingual Vision-and-Language Navigation with Dense Spatiotemporal Grounding](https://mlsanity.com/paper/2010.07954/) (2020)
- [REVERIE: Remote Embodied Visual Referring Expression in Real Indoor Environments](https://mlsanity.com/paper/1904.10151/) (2019)
- [Orthogonal Subspace Learning for Language Model Continual Learning](https://mlsanity.com/paper/2310.14152/) (2023)
- [Rainbow Memory: Continual Learning with a Memory of Diverse Samples](https://mlsanity.com/paper/2103.17230/) (2021)
- [Navigation World Models](https://mlsanity.com/paper/2412.03572/) (2024)
- [Vision-and-Dialog Navigation](https://mlsanity.com/paper/1907.04957/) (2019)
- [Towards Learning a Generalist Model for Embodied Navigation](https://mlsanity.com/paper/2312.02010/) (2023)
- [Language Models Meet World Models: Embodied Experiences Enhance Language Models](https://mlsanity.com/paper/2305.10626/) (2023)
- [HydraLoRA: An Asymmetric LoRA Architecture for Efficient Fine-Tuning](https://mlsanity.com/paper/2404.19245/) (2024)
- [Scaling Data Generation in Vision-and-Language Navigation](https://mlsanity.com/paper/2307.15644/) (2023)
- [Topological Planning with Transformers for Vision-and-Language Navigation](https://mlsanity.com/paper/2012.05292/) (2020)
- [Continual Learning with Node-Importance based Adaptive Group Sparse Regularization](https://mlsanity.com/paper/2003.13726/) (2020)
- [Higher Layers Need More LoRA Experts](https://mlsanity.com/paper/2402.08562/) (2024)
- [Language and Visual Entity Relationship Graph for Agent Navigation](https://mlsanity.com/paper/2010.09304/) (2020)
- [Language-Aligned Waypoint (LAW) Supervision for Vision-and-Language Navigation in Continuous Environments](https://mlsanity.com/paper/2109.15207/) (2021)
- [Weakly-Supervised Multi-Granularity Map Learning for Vision-and-Language Navigation](https://mlsanity.com/paper/2210.07506/) (2022)
- [Universal Actions for Enhanced Embodied Foundation Models](https://mlsanity.com/paper/2501.10105/) (2025)
- [LOTUS: Continual Imitation Learning for Robot Manipulation Through Unsupervised Skill Discovery](https://mlsanity.com/paper/2311.02058/) (2023)
- [Towards Lifelong Learning of Large Language Models: A Survey](https://mlsanity.com/paper/2406.06391/) (2024)

## Built on by (most cited first, 3 of 3)

- [All-day Multi-scenes Lifelong Vision-and-Language Navigation with Tucker Adaptation](https://mlsanity.com/paper/2603.14276/) (2026)
- [SAB-LVLM: Significance-Aware Binarization for Large Vision-Language Models](https://mlsanity.com/paper/2607.01876/) (2026)
- [Robo-Cortex: A Self-Evolving Embodied Agent via Dual-Grain Cognitive Memory and Autonomous Knowledge Induction](https://mlsanity.com/paper/2605.18729/) (2026)

## Abstract (arXiv)

Embodied navigation agents powered by large language models have shown strong performance on individual tasks but struggle to continually acquire new navigation skills, which suffer from catastrophic forgetting. We formalize this challenge as lifelong embodied navigation learning (LENL), where an agent is required to adapt to a sequence of navigation tasks spanning multiple scenes and diverse user instruction styles, while retaining previously learned knowledge. To tackle this problem, we propose Uni-Walker, a lifelong embodied navigation framework that decouples navigation knowledge into task-shared and task-specific components with Decoder Extension LoRA (DE-LoRA). To learn the shared knowledge, we design a knowledge inheritance strategy and an experts co-activation strategy to facilitate shared knowledge transfer and refinement across multiple navigation tasks. To learn the specific knowledge, we propose an expert subspace orthogonality constraint together and a navigation-specific chain-of-thought reasoning mechanism to capture specific knowledge and enhance instruction-style understanding. Extensive experiments demonstrate the superiority of Uni-Walker for building universal navigation agents with lifelong learning.