arxivcs.CVcs.AI2026-07-20
Anticipate Before Acting: Future-State-Conditioned Vision-Language Navigation
Lingfeng Zhang, Zhanguang Zhang, Liheng Ma, Tongtong Cao, Yingxue Zhang
End-to-end vision-language navigation (VLN) with causal vision-language models maps instructions and egocentric observations directly to actions, but standard behavior cloning supervises only the next action and does not explicitly encourage the policy state to be predictive of f…