NavHarness: Adaptive Goals for Agentic Vision-Language Navigation

arXiv:2609.39915 · cs.CV, cs.RO · Submitted 2026-09-30 · Read on arXiv

cs.CV, cs.RO

Submitted: 2026-09-30

Updated: 2026-09-30

Comments: 22 pages, 10 figures

Code: https://github.com/YanyuanQiao/Open-Nav

Project page: https://navharness.github.io

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

Terminology

• Verification — 61× in this paper · explained in 2 episodes
• Grounding — 9× in this paper · explained in 3 episodes
• Foundation Model — 7× in this paper · explained in 3 episodes
• Benchmark — 6× in this paper · explained in 2 episodes
• Vision-Language Navigation — 6× in this paper
• AgenticNav — 4× in this paper · explained in 1 episode
• Foundation Models — 4× in this paper · explained in 7 episodes
• Trace — 4× in this paper · explained in 2 episodes
• Ablation — 3× in this paper · explained in 1 episode
• Adaptation — 3× in this paper · explained in 1 episode
• Affordance — 2× in this paper · explained in 1 episode
• Agent Harness — 2× in this paper · explained in 2 episodes
• Transformer — 2× in this paper · explained in 2 episodes
• Actor — 1× in this paper · explained in 3 episodes
• Adaptive Planning — 1× in this paper · explained in 1 episode
• Consistency — 1× in this paper · explained in 3 episodes
• Decoupling — 1× in this paper · explained in 2 episodes
• Distillation — 1× in this paper · explained in 2 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Pruning — 1× in this paper · explained in 4 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Structured Reasoning — 1× in this paper · explained in 3 episodes
• Unified Framework — 1× in this paper · explained in 5 episodes

Sources

• ABot-Claw: A Foundation for Persistent, Cooperative, and Self-Evolving Robotic Agents
• ETPNav: Evolving Topological Planning for Vision-Language Navigation in Continuous Environments
• Vesta: A Generalist Embodied Reasoning Model
• History Aware Multimodal Transformer for Vision-and-Language Navigation
• HarnessVLN: Unifying Training-Free Embodied Navigation through an Agent Harness
• ABot-N1: Toward a General Visual Language Navigation Foundation Model
• AwareVLN: Reasoning with Self-awareness for Vision-Language Navigation
• A Recurrent Vision-and-Language BERT for Navigation
• AgenticNav: Zero-Shot Vision-and-Language Navigation as a Tool-Calling Harness
• Discuss Before Moving: Visual Language Navigation via Multi-expert Discussions
• Qwen-RobotNav Technical Report: A Scalable Navigation Model Designed for an Agentic Navigation System
• Scaling Data Generation in Vision-and-Language Navigation
• Ground Slow, Move Fast: A Dual-System Foundation Model for Generalizable Vision-and-Language Navigation
• OmniNav: A Unified Framework for Prospective Exploration and Visual-Language Navigation
• ReAct: Synergizing Reasoning and Acting in Language Models
• JanusVLN: Decoupling Semantics and Spatiality with Dual Implicit Memory for Vision-Language Navigation
• Embodied Navigation Foundation Model
• Embodied Agents Take Control: Minimal-Interface Zero-Shot Agents Rival Industrial-Scale Policies in Vision-and-Language Navigation

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