# Instance-Enriched Semantic Maps for Visual Language Navigation

arXiv: https://arxiv.org/abs/2607.12630 · HTML: https://mlsanity.com/paper/2607.12630/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 35 of its 43 references that are in the map.
- First posted on arXiv 14 Jul 2026.

## Builds on (most cited first, 30 of 35)

- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [The Llama 3 Herd of Models](https://mlsanity.com/paper/2407.21783/) (2024)
- [Segment Anything](https://mlsanity.com/paper/2304.02643/) (2023)
- [3D Gaussian Splatting for Real-Time Radiance Field Rendering](https://mlsanity.com/paper/2308.04079/) (2023)
- [Do As I Can, Not As I Say: Grounding Language in Robotic Affordances](https://mlsanity.com/paper/2204.01691/) (2022)
- [PaLM-E: An Embodied Multimodal Language Model](https://mlsanity.com/paper/2303.03378/) (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)
- [The Replica Dataset: A Digital Replica of Indoor Spaces](https://mlsanity.com/paper/1906.05797/) (2019)
- [ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM](https://mlsanity.com/paper/2007.11898/) (2020)
- [AI2-THOR: An Interactive 3D Environment for Visual AI](https://mlsanity.com/paper/1712.05474/) (2017)
- [Language-driven Semantic Segmentation](https://mlsanity.com/paper/2201.03546/) (2022)
- [Segment Everything Everywhere All at Once](https://mlsanity.com/paper/2304.06718/) (2023)
- [LM-Nav: Robotic Navigation with Large Pre-Trained Models of Language, Vision, and Action](https://mlsanity.com/paper/2207.04429/) (2022)
- [Visual Language Maps for Robot Navigation](https://mlsanity.com/paper/2210.05714/) (2022)
- [ConceptGraphs: Open-Vocabulary 3D Scene Graphs for Perception and Planning](https://mlsanity.com/paper/2309.16650/) (2023)
- [Speaker-Follower Models for Vision-and-Language Navigation](https://mlsanity.com/paper/1806.02724/) (2018)
- [Hierarchical Open-Vocabulary 3D Scene Graphs for Language-Grounded Robot Navigation](https://mlsanity.com/paper/2403.17846/) (2024)
- [CoWs on Pasture: Baselines and Benchmarks for Language-Driven Zero-Shot Object Navigation](https://mlsanity.com/paper/2203.10421/) (2022)
- [Real-World Humanoid Locomotion with Reinforcement Learning](https://mlsanity.com/paper/2303.03381/) (2023)
- [Open-vocabulary Queryable Scene Representations for Real World Planning](https://mlsanity.com/paper/2209.09874/) (2022)
- [SG-Nav: Online 3D Scene Graph Prompting for LLM-based Zero-shot Object Navigation](https://mlsanity.com/paper/2410.08189/) (2024)
- [RTAB-Map as an Open-Source Lidar and Visual SLAM Library for Large-Scale and Long-Term Online Operation](https://mlsanity.com/paper/2403.06341/) (2024)
- [Real-World Robot Applications of Foundation Models: A Review](https://mlsanity.com/paper/2402.05741/) (2024)
- [GaussNav: Gaussian Splatting for Visual Navigation](https://mlsanity.com/paper/2403.11625/) (2024)
- [Distilling Internet-Scale Vision-Language Models into Embodied Agents](https://mlsanity.com/paper/2301.12507/) (2023)
- [g3D-LF: Generalizable 3D-Language Feature Fields for Embodied Tasks](https://mlsanity.com/paper/2411.17030/) (2024)
- [Accurately and Efficiently Interpreting Human-Robot Instructions of Varying Granularities](https://mlsanity.com/paper/1704.06616/) (2017)
- [VLN-Game: Vision-Language Equilibrium Search for Zero-Shot Semantic Navigation](https://mlsanity.com/paper/2411.11609/) (2024)

## Abstract (arXiv)

Visual Language Navigation (VLN) aims to enable an embodied agent to navigate complex environments by following natural language instructions. Recent approaches build semantic spatial maps and leverage Large Language Models (LLMs) for reasoning and decision making. Despite these advances, existing systems lack instance-level object detail and robustness to diverse user queries, limiting reliable navigation in complex indoor environments. To address these limitations, we propose Instance-Enriched Semantic Maps, a unified framework with three key contributions: (1) Instance-level two-and-a-half-dimensional (2.5D) rich information mapping that constructs maps from color and depth observations via open-vocabulary panoptic segmentation, preserving vertical distinctions and capturing small objects, while storing diverse semantic attributes and natural language captions enriched with room-level context. (2) Robust query processing via LLM-based target selection, which dynamically routes queries across type-specialized experts and integrates their outputs through score-level fusion, enabling consistent goal selection across diverse query formulations. (3) Storage-efficient semantic representation that achieves approximately 96% reduction compared to three-dimensional (3D) scene-graph approaches while preserving sufficient spatial information for navigation. The proposed 2.5D representation outperforms the 3D baseline by over 27% in prediction-normalized Area Under the Curve (AUC). In navigation experiments, our method achieves over 17% improvement in object retrieval and over 23% in navigation success compared to the baseline across diverse query types. The project page is available at https://rcilab.github.io/iesm_vln.