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

arXiv: https://arxiv.org/abs/2603.09113 · HTML: https://mlsanity.com/paper/2603.09113/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 28 of its 32 references that are in the map.
- First posted on arXiv 10 Mar 2026.

## Builds on (most cited first, 28 of 28)

- [Segment Anything](https://mlsanity.com/paper/2304.02643/) (2023)
- [Grounding DINO: Marrying DINO with Grounded Pre-Training for Open-Set Object Detection](https://mlsanity.com/paper/2303.05499/) (2023)
- [Matterport3D: Learning from RGB-D Data in Indoor Environments](https://mlsanity.com/paper/1709.06158/) (2017)
- [Habitat: A Platform for Embodied AI Research](https://mlsanity.com/paper/1904.01201/) (2019)
- [Vision-and-Language Navigation: Interpreting visually-grounded navigation instructions in real environments](https://mlsanity.com/paper/1711.07280/) (2017)
- [Habitat-Matterport 3D Dataset (HM3D): 1000 Large-scale 3D Environments for Embodied AI](https://mlsanity.com/paper/2109.08238/) (2021)
- [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)
- [SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning](https://mlsanity.com/paper/2307.06135/) (2023)
- [NavGPT: Explicit Reasoning in Vision-and-Language Navigation with Large Language Models](https://mlsanity.com/paper/2305.16986/) (2023)
- [Touchdown: Natural Language Navigation and Spatial Reasoning in Visual Street Environments](https://mlsanity.com/paper/1811.12354/) (2018)
- [VLFM: Vision-Language Frontier Maps for Zero-Shot Semantic Navigation](https://mlsanity.com/paper/2312.03275/) (2023)
- [InstructNav: Zero-shot System for Generic Instruction Navigation in Unexplored Environment](https://mlsanity.com/paper/2406.04882/) (2024)
- [Stay on the Path: Instruction Fidelity in Vision-and-Language Navigation](https://mlsanity.com/paper/1905.12255/) (2019)
- [Discuss Before Moving: Visual Language Navigation via Multi-expert Discussions](https://mlsanity.com/paper/2309.11382/) (2023)
- [SG-Nav: Online 3D Scene Graph Prompting for LLM-based Zero-shot Object Navigation](https://mlsanity.com/paper/2410.08189/) (2024)
- [MapGPT: Map-Guided Prompting with Adaptive Path Planning for Vision-and-Language Navigation](https://mlsanity.com/paper/2401.07314/) (2024)
- [Bridging Zero-shot Object Navigation and Foundation Models through Pixel-Guided Navigation Skill](https://mlsanity.com/paper/2309.10309/) (2023)
- [Mobility VLA: Multimodal Instruction Navigation with Long-Context VLMs and Topological Graphs](https://mlsanity.com/paper/2407.07775/) (2024)
- [Affordances-Oriented Planning using Foundation Models for Continuous Vision-Language Navigation](https://mlsanity.com/paper/2407.05890/) (2024)
- [Open-Nav: Exploring Zero-Shot Vision-and-Language Navigation in Continuous Environment with Open-Source LLMs](https://mlsanity.com/paper/2409.18794/) (2024)
- [Comparing Humans, GPT-4, and GPT-4V On Abstraction and Reasoning Tasks](https://mlsanity.com/paper/2311.09247/) (2023)
- [Hierarchical Cross-Modal Agent for Robotics Vision-and-Language Navigation](https://mlsanity.com/paper/2104.10674/) (2021)
- [Analyzing Generalization of Vision and Language Navigation to Unseen Outdoor Areas](https://mlsanity.com/paper/2203.13838/) (2022)
- [Vision-Language Navigation with Energy-Based Policy](https://mlsanity.com/paper/2410.14250/) (2024)
- [MiniVLN: Efficient Vision-and-Language Navigation by Progressive Knowledge Distillation](https://mlsanity.com/paper/2409.18800/) (2024)
- [Graph2Nav: 3D Object-Relation Graph Generation to Robot Navigation](https://mlsanity.com/paper/2504.16782/) (2025)
- [STAGE: Scalable and Traversability-Aware Graph based Exploration Planner for Dynamically Varying Environments](https://mlsanity.com/paper/2402.02566/) (2024)

## 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.