Compass 1: Towards Open-World and Persistent Embodied Navigation from Monocular RGB Videos
Hai Zhang, Siqi Liang, Yanjun Guo, Shoufeng Zhang, Yunhao Wang, Hangyu Du, Haoguang Mai, Hongchen Li 等 20 位作者
原文摘要
Embodied navigation requires agents to achieve persistent spatial awareness and long-horizon execution stability in open-world environments. However, existing navigation architectures struggle to sustain both capabilities, remaining effective only over a handful of recent frames. We present Compass 1, the first embodied navigation foundation model to unify language understanding and video generation while enabling memory backtracking through nearly 2mins of visual history. Without altering the underlying architecture, we introduce History Representation, which integrates sparse visual keyframes with an explicit History Representation Map to preserve long-term spatiotemporal context. To effectively leverage this history, we further introduce History Utilization, a structured VQA supervision protocol comprising three categories: task-stage grounding, exploration consistency, and spatiotemporal target retrieval, enabling map-grounded reasoning and stable persistent long-horizon navigation. To fuel this system, we establish a complete annotation pipeline for monocular RGB videos and open-source a massive dataset featuring over 500 hours of high-quality real-world interactions and over 2,000 hours of annotated web videos. Trained mainly on the distribution of 1m height camera, Compass 1 generalizes seamlessly across diverse embodiments and scenarios, ranging from indoor environments to pedestrian-dense streets, spanning wheeled robot at 0.35m, quadruped dog at 0.5m, humanoid at 0.85m, and aerial drone at 1.5m. Compass 1achieves a dominant overall success rate of 79.4% across open-world evaluations, compared to 17.8% for the strongest baseline. It demonstrates exceptional zero-shot execution exceeding 90% on foundational tasks, a 250% boost in exploration, and an unparalleled leap from 0% to 58% in challenging persistent history backtracking.
cs.CV · cs.RO