# FINE: Future-Informed Navigation Encoding for Data-Efficient Vision-Language Navigation

arXiv: https://arxiv.org/abs/2609.32855 · HTML: https://mlsanity.com/paper/2609.32855/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 34 of its 36 references that are in the map.
- First posted on arXiv 26 Sep 2026.

## Builds on (most cited first, 30 of 34)

- [Grounding DINO: Marrying DINO with Grounded Pre-Training for Open-Set Object Detection](https://mlsanity.com/paper/2303.05499/) (2023)
- [VGGT: Visual Geometry Grounded Transformer](https://mlsanity.com/paper/2503.11651/) (2025)
- [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)
- [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)
- [Navigation World Models](https://mlsanity.com/paper/2412.03572/) (2024)
- [NaVid: Video-based VLM Plans the Next Step for Vision-and-Language Navigation](https://mlsanity.com/paper/2402.15852/) (2024)
- [NaVILA: Legged Robot Vision-Language-Action Model for Navigation](https://mlsanity.com/paper/2412.04453/) (2024)
- [Vision-Language Navigation with Self-Supervised Auxiliary Reasoning Tasks](https://mlsanity.com/paper/1911.07883/) (2019)
- [Self-Monitoring Navigation Agent via Auxiliary Progress Estimation](https://mlsanity.com/paper/1901.03035/) (2019)
- [ETPNav: Evolving Topological Planning for Vision-Language Navigation in Continuous Environments](https://mlsanity.com/paper/2304.03047/) (2023)
- [Uni-NaVid: A Video-based Vision-Language-Action Model for Unifying Embodied Navigation Tasks](https://mlsanity.com/paper/2412.06224/) (2024)
- [Pathdreamer: A World Model for Indoor Navigation](https://mlsanity.com/paper/2105.08756/) (2021)
- [StreamVLN: Streaming Vision-and-Language Navigation via SlowFast Context Modeling](https://mlsanity.com/paper/2507.05240/) (2025)
- [Scaling Data Generation in Vision-and-Language Navigation](https://mlsanity.com/paper/2307.15644/) (2023)
- [The Regretful Agent: Heuristic-Aided Navigation through Progress Estimation](https://mlsanity.com/paper/1903.01602/) (2019)
- [NavGPT-2: Unleashing Navigational Reasoning Capability for Large Vision-Language Models](https://mlsanity.com/paper/2407.12366/) (2024)
- [Structured Scene Memory for Vision-Language Navigation](https://mlsanity.com/paper/2103.03454/) (2021)
- [JanusVLN: Decoupling Semantics and Spatiality with Dual Implicit Memory for Vision-Language Navigation](https://mlsanity.com/paper/2509.22548/) (2025)
- [Lookahead Exploration with Neural Radiance Representation for Continuous Vision-Language Navigation](https://mlsanity.com/paper/2404.01943/) (2024)
- [Ground Slow, Move Fast: A Dual-System Foundation Model for Generalizable Vision-and-Language Navigation](https://mlsanity.com/paper/2512.08186/) (2025)
- [MapNav: A Novel Memory Representation via Annotated Semantic Maps for Vision-and-Language Navigation](https://mlsanity.com/paper/2502.13451/) (2025)
- [Improving Vision-and-Language Navigation by Generating Future-View Image Semantics](https://mlsanity.com/paper/2304.04907/) (2023)
- [Grounded Entity-Landmark Adaptive Pre-training for Vision-and-Language Navigation](https://mlsanity.com/paper/2308.12587/) (2023)
- [General Scene Adaptation for Vision-and-Language Navigation](https://mlsanity.com/paper/2501.17403/) (2025)
- [Sparse Video Generation Propels Real-World Beyond-the-View Vision-Language Navigation](https://mlsanity.com/paper/2602.05827/) (2026)
- [VLN-Zero: Rapid Exploration and Cache-Enabled Neurosymbolic Vision-Language Planning for Zero-Shot Transfer in Robot Navigation](https://mlsanity.com/paper/2509.18592/) (2025)
- [FutureNav: Unified World-Action Modeling for Vision-and-Language Navigation](https://mlsanity.com/paper/2606.30367/) (2026)

## Abstract (arXiv)

Adapting vision-language navigation (VLN) policies to new environments is expensive because every additional route and instruction requires an embodied demonstration. Yet standard observation-to-action training uses only a small fraction of the information already contained in each trajectory. In particular, future observations reveal the instruction-relevant landmarks that the agent will encounter, including what they look like and how they are arranged in 3D. We introduce FINE, a Future-Informed Navigation Encoding framework that extracts this latent supervision from existing demonstrations. FINE equips a VLN backbone with two complementary auxiliary representations. First, explicit landmark tokens follow the ordered landmarks specified by the instruction and are trained to predict future landmark regions in both semantic 2D patch-feature space and viewpoint-dependent 3D geometric feature space. Second, an implicit future token learns to distinguish the landmark state that is actually reached from plausible same-scene counterfactual futures generated by a video world model. On R2R-CE and RxR-CE val-unseen, FINE improves InternVLA-N1 by 2.6 and 4.5 success-rate points, respectively, at full training data. More importantly, as demonstrations become limited, the benefit grows: at a 70% demonstration budget, FINE improves success rate by 6.8 points, recovering roughly one-third of the performance lost by reducing the training demonstrations. Project page is available at https://finevln.github.io/.