NavA^3: Understanding Any Instruction, Navigating Anywhere, Finding Anything
Lingfeng Zhang Tsinghua University and Xiaomi Corporation, Xiaoshuai Hao Xiaomi Corporation, Yingbo Tang Institute of automation, Chinese academy of science, Chinese Academy of Sciences, Haoxiang Fu, Xinyu Zheng, Pengwei Wang, Zhongyuan Wang BAAI, Wenbo Ding Tsinghua Univeresity 等 9 位作者
Embodied navigation is a fundamental capability of embodied intelligence, enabling robots to move and interact within physical environments. However, existing navigation tasks primarily focus on predefined object navigation or instruction following, which significantly differs from human needs in real-world scenarios involving complex, open-ended scenes. To bridge this gap, we introduce a challenging long-horizon navigation task that requires understanding high-level human instructions and performing spatial-aware object navigation in real-world environments. Existing embodied navigation methods struggle with such tasks due to their limitations in comprehending high-level human instructions and localizing objects with an open vocabulary. In this paper, we propose NavA^3, a hierarchical framework divided into two stages: global and local policies. In the global policy, we leverage the reasoning capabilities of Reasoning-VLM to parse high-level human instructions and integrate them with global 3D scene views. This allows us to reason and navigate to regions most likely to contain the goal object. In the local policy, we have collected a dataset of 1.0 million samples of spatial-aware object affordances to train the NaviAfford model (PointingVLM), which provides robust open-vocabulary object localization and spatial awareness for precise goal identification and navigation in complex environments. Extensive experiments demonstrate that NavA^3 achieves SOTA results in navigation performance and can successfully complete long-horizon navigation tasks across different robot embodiments in real-world settings, paving the way for universal embodied navigation. The dataset and code will be made available.
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Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表