# Uncertainty-Aware Gaussian Map for Vision-Language Navigation

arXiv: https://arxiv.org/abs/2605.26503 · HTML: https://mlsanity.com/paper/2605.26503/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 76 of its 98 references that are in the map.
- First posted on arXiv 26 May 2026.

## Builds on (most cited first, 30 of 76)

- [BERT: Pre-training of Deep Bidirectional Transformers for Language Understanding](https://mlsanity.com/paper/1810.04805/) (2018)
- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [3D Gaussian Splatting for Real-Time Radiance Field Rendering](https://mlsanity.com/paper/2308.04079/) (2023)
- [Dropout as a Bayesian Approximation: Representing Model Uncertainty in Deep Learning](https://mlsanity.com/paper/1506.02142/) (2015)
- [Simple and Scalable Predictive Uncertainty Estimation using Deep Ensembles](https://mlsanity.com/paper/1612.01474/) (2016)
- [SAM 2: Segment Anything in Images and Videos](https://mlsanity.com/paper/2408.00714/) (2024)
- [Matterport3D: Learning from RGB-D Data in Indoor Environments](https://mlsanity.com/paper/1709.06158/) (2017)
- [4D Gaussian Splatting for Real-Time Dynamic Scene Rendering](https://mlsanity.com/paper/2310.08528/) (2023)
- [Vision-and-Language Navigation: Interpreting visually-grounded navigation instructions in real environments](https://mlsanity.com/paper/1711.07280/) (2017)
- [Deformable 3D Gaussians for High-Fidelity Monocular Dynamic Scene Reconstruction](https://mlsanity.com/paper/2309.13101/) (2023)
- [VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models](https://mlsanity.com/paper/2307.05973/) (2023)
- [Variational Dropout and the Local Reparameterization Trick](https://mlsanity.com/paper/1506.02557/) (2015)
- [Room-Across-Room: Multilingual Vision-and-Language Navigation with Dense Spatiotemporal Grounding](https://mlsanity.com/paper/2010.07954/) (2020)
- [SplaTAM: Splat, Track & Map 3D Gaussians for Dense RGB-D SLAM](https://mlsanity.com/paper/2312.02126/) (2023)
- [Faster Segment Anything: Towards Lightweight SAM for Mobile Applications](https://mlsanity.com/paper/2306.14289/) (2023)
- [Speaker-Follower Models for Vision-and-Language Navigation](https://mlsanity.com/paper/1806.02724/) (2018)
- [REVERIE: Remote Embodied Visual Referring Expression in Real Indoor Environments](https://mlsanity.com/paper/1904.10151/) (2019)
- [How Much Can CLIP Benefit Vision-and-Language Tasks?](https://mlsanity.com/paper/2107.06383/) (2021)
- [Reinforced Cross-Modal Matching and Self-Supervised Imitation Learning for Vision-Language Navigation](https://mlsanity.com/paper/1811.10092/) (2018)
- [A Recurrent Vision-and-Language BERT for Navigation](https://mlsanity.com/paper/2011.13922/) (2020)
- [Navigation World Models](https://mlsanity.com/paper/2412.03572/) (2024)
- [History Aware Multimodal Transformer for Vision-and-Language Navigation](https://mlsanity.com/paper/2110.13309/) (2021)
- [Learning to Navigate Unseen Environments: Back Translation with Environmental Dropout](https://mlsanity.com/paper/1904.04195/) (2019)
- [Pitfalls of In-Domain Uncertainty Estimation and Ensembling in Deep Learning](https://mlsanity.com/paper/2002.06470/) (2020)
- [Think Global, Act Local: Dual-scale Graph Transformer for Vision-and-Language Navigation](https://mlsanity.com/paper/2202.11742/) (2022)
- [ETPNav: Evolving Topological Planning for Vision-Language Navigation in Continuous Environments](https://mlsanity.com/paper/2304.03047/) (2023)
- [Airbert: In-domain Pretraining for Vision-and-Language Navigation](https://mlsanity.com/paper/2108.09105/) (2021)
- [GridMM: Grid Memory Map for Vision-and-Language Navigation](https://mlsanity.com/paper/2307.12907/) (2023)
- [MIGC: Multi-Instance Generation Controller for Text-to-Image Synthesis](https://mlsanity.com/paper/2402.05408/) (2024)
- [BEVBert: Multimodal Map Pre-training for Language-guided Navigation](https://mlsanity.com/paper/2212.04385/) (2022)

## Built on by (most cited first, 1 of 1)

- [Uncertainty-Aware World Model for Aerial Image-Goal Navigation](https://mlsanity.com/paper/2608.05597/) (2026)

## Abstract (arXiv)

Vision-Language Navigation (VLN) requires an agent to navigate 3D environments following natural language instructions. During navigation, existing agents commonly encounter perceptual uncertainty, such as insufficient evidence for reliable grounding or ambiguity in interpreting spatial cues, yet they typically ignore such information when predicting actions. In this work, we explicitly model three forms of perceptual uncertainty (i.e., geometric, semantic, and appearance uncertainty) and integrate them into the agent's observation space to enable informed decision-making. Concretely, our agent first constructs a Semantic Gaussian Map (SGM), composed of differentiable 3D Gaussian primitives initialized from panoramic observations, that encodes both the geometric structure and semantic content of the environment. On top of SGM, geometric uncertainty is estimated through variational perturbations of Gaussian position and scale to assess structural reliability; semantic uncertainty is captured by perturbing Gaussian semantic attributes to reveal ambiguous interpretations; and appearance uncertainty is characterized by Fisher Information, which measures the sensitivity of rendered observations to Gaussian-level variations. These uncertainties are incorporated into SGM, extending it into a unified 3D Value Map, which grounds them as affordances and constraints that support reliable navigation. Comprehensive evaluations across multiple VLN benchmarks show the effectiveness of our agent.