arxivcs.ROcs.AI2026-07-08
GemNav: Discrete-Token Visual Robot Navigation using a Multimodal Large Language Model
Peter Bohm, Saimunur Rahman, Abdelwahed Khamis, Sagun Man Singh Shrestha, Chris McCool, Peyman Moghadam
Visual navigation policies built on large pretrained models have so far followed a common recipe: a dedicated visual encoder, a bespoke action head, and training on thousands of hours of cross-embodiment datasets. We ask whether this recipe is necessary. In this paper, we introdu…