arxivcs.RO2026-07-31
HAM-VLN: Harnessing Hierarchical Agentic Memory for Zero-Shot Vision-and-Language Navigation
An Liu, Bingxi Liu, Hongyu Ding, Yixuan Jiang, Yaran Chen, Fulin Tang, et al.
Vision-and-language navigation (VLN) enables robots to follow instructions in previously unseen environments. Recently, a training-free paradigm has emerged: the robot queries a multimodal LLM to understand its observations and plan the next action. However, long-horizon navigati…