# From Language to Navigation Goals: A Vision-Language Approach for Semantic Navigation of Mobile Robots Using RGB-D Perception

arXiv: https://arxiv.org/abs/2607.13624 · HTML: https://mlsanity.com/paper/2607.13624/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 11 of its 13 references that are in the map.
- First posted on arXiv 15 Jul 2026.

## Builds on (most cited first, 11 of 11)

- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [BLIP-2: Bootstrapping Language-Image Pre-training with Frozen Image Encoders and Large Language Models](https://mlsanity.com/paper/2301.12597/) (2023)
- [RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control](https://mlsanity.com/paper/2307.15818/) (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)
- [π0.5: a Vision-Language-Action Model with Open-World Generalization](https://mlsanity.com/paper/2504.16054/) (2025)
- [Vision-and-Language Navigation: Interpreting visually-grounded navigation instructions in real environments](https://mlsanity.com/paper/1711.07280/) (2017)
- [Visual Language Maps for Robot Navigation](https://mlsanity.com/paper/2210.05714/) (2022)
- [Vision Language Models in Autonomous Driving: A Survey and Outlook](https://mlsanity.com/paper/2310.14414/) (2023)
- [Mapping Instructions to Actions in 3D Environments with Visual Goal Prediction](https://mlsanity.com/paper/1809.00786/) (2018)
- [The Marathon 2: A Navigation System](https://mlsanity.com/paper/2003.00368/) (2020)

## Abstract (arXiv)

Natural language interaction provides an intuitive way for non-expert users to communicate with robotic platforms. However, transforming user requests into executable navigation actions remains a challenging task, requiring the integration of language understanding, environment perception, and autonomous navigation. This work presents a language-driven navigation framework that enables mobile robots to interpret user requests in natural language to move the robot to a destination and autonomously navigate towards it. The framework is composed of modular ROS 2 components that cooperate to transform natural language instructions into navigation actions. Given a natural language request referring to a target in the environment (e.g., "go to the mail box"), the system identifies the referenced object, estimates its position using RGB-D data, and generates a navigation goal, which is then executed through the ROS 2 Nav2 navigation stack. The ROS 2-based implementation facilitates portability across different robotic platforms, requiring only the configuration of the corresponding topics and services. The system is evaluated in both simulation and real-world scenarios using a TurtleBot3 Waffle and a Unitree Go2 robot with a RealSense camera. Experimental results show that the framework successfully interprets both direct commands and contextual requests, generates meaningful natural-language feedback, and navigates towards the desired target. These results demonstrate the feasibility of combining semantic perception and autonomous navigation to provide an intuitive human-robot interaction paradigm. Code will be released as open source upon acceptance.