mlsanityData to 7 Oct 2026

PM-Nav: Priori-Map Guided Embodied Navigation in Functional Buildings

arXiv 2603.09113 ↗First posted 10 Mar 2026cs.RO cs.AIcited by 0

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Abstract (arXiv)

Existing language-driven embodied navigation paradigms face challenges in functional buildings (FBs) with highly similar features, as they lack the ability to effectively utilize priori spatial knowledge. To tackle this issue, we propose a Priori-Map Guided Embodied Navigation (PM-Nav), wherein environmental maps are transformed into navigation-friendly semantic priori-maps, a hierarchical chain-of-thought prompt template with an annotation priori-map is designed to enable precise path planning, and a multi-model collaborative action output mechanism is built to accomplish positioning decisions and execution control for navigation planning. Comprehensive tests using a home-made FB dataset show that the PM-Nav obtains average improvements of 511% and 1175%, and 650% and 400% over the SG-Nav and the InstructNav in simulation and real-world, respectively. These tremendous boosts elucidate the great potential of using the PM-Nav as a backbone navigation framework for FBs.

Key facts. No citing papers in the map yet (data through 7 Oct 2026). Builds on 28 of its 32 references that are in the map. First posted on arXiv 10 Mar 2026.

Builds on

28 of 32 references.

References · 28

  1. 2023Segment Anythingcited by 8,158
  2. 2023Grounding DINO: Marrying DINO with Grounded Pre-Training for Open-Set Object Detectioncited by 3,274
  3. 2017Matterport3D: Learning from RGB-D Data in Indoor Environmentscited by 1,354
  4. 2019Habitat: A Platform for Embodied AI Researchcited by 1,163
  5. 2017Vision-and-Language Navigation: Interpreting visually-grounded navigation instructions in real environmentscited by 1,013
  6. 2021Habitat-Matterport 3D Dataset (HM3D): 1000 Large-scale 3D Environments for Embodied AIcited by 579
  7. 2020Beyond the Nav-Graph: Vision-and-Language Navigation in Continuous Environmentscited by 429
  8. 2020Room-Across-Room: Multilingual Vision-and-Language Navigation with Dense Spatiotemporal Groundingcited by 401
  9. 2023SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planningcited by 289
  10. 2023NavGPT: Explicit Reasoning in Vision-and-Language Navigation with Large Language Modelscited by 274
  11. 2018Touchdown: Natural Language Navigation and Spatial Reasoning in Visual Street Environmentscited by 238
  12. 2023VLFM: Vision-Language Frontier Maps for Zero-Shot Semantic Navigationcited by 201
16 more
  1. 2024InstructNav: Zero-shot System for Generic Instruction Navigation in Unexplored Environmentcited by 150
  2. 2019Stay on the Path: Instruction Fidelity in Vision-and-Language Navigationcited by 129
  3. 2023Discuss Before Moving: Visual Language Navigation via Multi-expert Discussionscited by 108
  4. 2024SG-Nav: Online 3D Scene Graph Prompting for LLM-based Zero-shot Object Navigationcited by 106
  5. 2024MapGPT: Map-Guided Prompting with Adaptive Path Planning for Vision-and-Language Navigationcited by 85
  6. 2023Bridging Zero-shot Object Navigation and Foundation Models through Pixel-Guided Navigation Skillcited by 75
  7. 2024Mobility VLA: Multimodal Instruction Navigation with Long-Context VLMs and Topological Graphscited by 72
  8. 2024Affordances-Oriented Planning using Foundation Models for Continuous Vision-Language Navigationcited by 60
  9. 2024Open-Nav: Exploring Zero-Shot Vision-and-Language Navigation in Continuous Environment with Open-Source LLMscited by 60
  10. 2023Comparing Humans, GPT-4, and GPT-4V On Abstraction and Reasoning Taskscited by 54
  11. 2021Hierarchical Cross-Modal Agent for Robotics Vision-and-Language Navigationcited by 47
  12. 2022Analyzing Generalization of Vision and Language Navigation to Unseen Outdoor Areascited by 24
  13. 2024Vision-Language Navigation with Energy-Based Policycited by 19
  14. 2024MiniVLN: Efficient Vision-and-Language Navigation by Progressive Knowledge Distillationcited by 6
  15. 2025Graph2Nav: 3D Object-Relation Graph Generation to Robot Navigationcited by 4
  16. 2024STAGE: Scalable and Traversability-Aware Graph based Exploration Planner for Dynamically Varying Environmentscited by 3

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