During a summer internship at MIT Lincoln Laboratory, Ivy Mahncke, an undergraduate student of robotics engineering at Olin College of Engineering, took a hands-on approach to testing algorithms for underwater navigation. She first discovered her love for working with underwater robotics as an intern at the Woods Hole Oceanographic Institution in 2024. Drawn by the chance to tackle new problems and cutting-edge algorithm development, Mahncke began an internship with Lincoln Laboratory's Advanced Undersea Systems and Technology Group in 2025. Mahncke spent the summer developing and troubleshooting an algorithm that would help a human diver and robotic vehicle collaboratively navigate underwater. The lack of traditional localization aids -- such as the Global Positioning System, or GPS -- in an underwater environment posed challenges for navigation that Mahncke and her mentors sought to overcome.

The ability to perform effective planning is crucial for building an instructionfollowing agent.

Vision-and-Language Navigation (VLN) aims to develop embodied agents that navigate based on human instructions. However, current VLN frameworks often rely on static environments and optimal expert supervision, limiting their real-world applicability. To address this, we introduce Human-Aware Vision-and-Language Navigation (HA-VLN), extending traditional VLN by incorporating dynamic human activities and relaxing key assumptions.

Honguk Woo is the corresponding author.

The process of satisfying daily demands is a fundamental aspect of humans' daily

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