PanoVLN: Towards Effective Panoramic Vision-and-Language Navigation

arXiv:2609.34759 · cs.CV, cs.RO · Submitted 2026-09-28 · Read on arXiv

cs.CV, cs.RO

Submitted: 2026-09-28

Updated: 2026-09-28

Comments: 22 pages, 14 figures. Project page: https://wangzhen-w.github.io/PanoVLN/

Project page: https://wangzhen-w.github.io/PanoVLN

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Benchmark — 7× in this paper · explained in 2 episodes
• Computer Vision and Pattern Recognition — 7× in this paper
• Grounding — 6× in this paper · explained in 3 episodes
• Ablation — 4× in this paper · explained in 1 episode
• Adaptation — 3× in this paper · explained in 1 episode
• Ablation Studies — 2× in this paper · explained in 1 episode
• Consistency — 2× in this paper · explained in 3 episodes
• Decoupling — 2× in this paper · explained in 2 episodes
• Embodied AI — 2× in this paper · explained in 2 episodes
• Empirical Methods in Natural Language Processing — 2× in this paper
• Fine-Tuning — 2× in this paper · explained in 5 episodes
• Foundation Model — 2× in this paper · explained in 3 episodes
• Verification — 2× in this paper · explained in 2 episodes
• Action Space — 1× in this paper · explained in 1 episode
• Aggregation — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• CVF International Conference on Computer Vision — 1× in this paper
• Regret — 1× in this paper · explained in 3 episodes
• Transformer — 1× in this paper · explained in 2 episodes
• Vision-Language Models (VLMs) — 1× in this paper · explained in 6 episodes

Sources

• Qwen3-VL Technical Report
• Qwen2.5-VL Technical Report
• UniFuse: Unidirectional Fusion for 360$^{\circ}$ Panorama Depth Estimation
• Depth Any Panoramas: A Foundation Model for Panoramic Depth Estimation
• Habitat-Matterport 3D Dataset (HM3D): 1000 Large-scale 3D Environments for Embodied AI
• StreamVLN: Streaming Vision-and-Language Navigation via SlowFast Context Modeling
• InstruGen: Automatic Instruction Generation for Vision-and-Language Navigation Via Large Multimodal Models

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