Instruction-following navigation is a key step toward embodied intelligence. Prior benchmarks mainly focus on semantic understanding but overlook systematically evaluating navigation agents' spatial perception and reasoning capabilities. In this work, we introduce the NavSpace benchmark, which contains six task categories and 1,228 trajectory-instruction pairs designed to probe the spatial intelligence of navigation agents. On this benchmark, we comprehensively evaluate 22 navigation agents, including state-of-the-art navigation models and multimodal large language models. The evaluation results lift the veil on spatial intelligence in embodied navigation. Furthermore, we propose SNav, a new spatially intelligent navigation model. SNav outperforms existing navigation agents on NavSpace and real robot tests, establishing a strong baseline for future work.

The use of natural language (NL) test cases for validating graphical user interface (GUI) applications is emerging as a promising direction to manually written executable test scripts, which are costly to develop and difficult to maintain. Recent advances in large language models (LLMs) have opened the possibility of the direct execution of NL test cases by LLM agents. This paper investigates this direction, focusing on the impact on NL test case unsoundness and on test case execution consistency. NL test cases are inherently unsound, as they may yield false failures due to ambiguous instructions or unpredictable agent behaviour. Furthermore, repeated executions of the same NL test case may lead to inconsistent outcomes, undermining test reliability. To address these challenges, we propose an algorithm for executing NL test cases with guardrail mechanisms and specialised agents that dynamically verify the correct execution of each test step. We introduce measures to evaluate the capabilities of LLMs in test execution and one measure to quantify execution consistency. We propose a definition of weak unsoundness to characterise contexts in which NL test case execution remains acceptable, with respect to the industrial quality levels Six Sigma. Our experimental evaluation with eight publicly available LLMs, ranging from 3B to 70B parameters, demonstrates both the potential and current limitations of current LLM agents for GUI testing. Our experiments show that Meta Llama 3.1 70B demonstrates acceptable capabilities in NL test case execution with high execution consistency (above the level 3-sigma). We provide prototype tools, test suites, and results.

As a result, the agent may take a very long time to perceive the environment due to limited camera scope. In contrast, humans typically gain a larger field of view by looking around for a better perception of the environment.

Robust navigation in diverse environments and domains requires both accurate state estimation and transparent decision making. We present PhysNav-DG, a novel framework that integrates classical sensor fusion with the semantic power of vision-language models. Our dual-branch architecture predicts navigation actions from multi-sensor inputs while simultaneously generating detailed chain-of-thought explanations. A modified Adaptive Kalman Filter dynamically adjusts its noise parameters based on environmental context. It leverages several streams of raw sensor data along with semantic insights from models such as LLaMA 3.2 11B and BLIP-2. To evaluate our approach, we introduce the MD-NEX Benchmark, a novel multi-domain dataset that unifies indoor navigation, autonomous driving, and social navigation tasks with ground-truth actions and human-validated explanations. Extensive experiments and ablations show that PhysNav-DG improves navigation success rates by over 20% and achieves high efficiency, with explanations that are both highly grounded and clear. This work connects high-level semantic reasoning and geometric planning for safer and more trustworthy autonomous systems.

Navigation is a fundamental skill of agents with visual-motor capabilities. We introduce a Navigation World Model (NWM), a controllable video generation model that predicts future visual observations based on past observations and navigation actions. To capture complex environment dynamics, NWM employs a Conditional Diffusion Transformer (CDiT), trained on a diverse collection of egocentric videos of both human and robotic agents, and scaled up to 1 billion parameters. In familiar environments, NWM can plan navigation trajectories by simulating them and evaluating whether they achieve the desired goal. Unlike supervised navigation policies with fixed behavior, NWM can dynamically incorporate constraints during planning. Experiments demonstrate its effectiveness in planning trajectories from scratch or by ranking trajectories sampled from an external policy. Furthermore, NWM leverages its learned visual priors to imagine trajectories in unfamiliar environments from a single input image, making it a flexible and powerful tool for next-generation navigation systems.

This paper builds upon the indoor vision and language-grounded navigation task and sequence-to-sequence model described in (Anderson et al, 2017), by introducing three improvements: 1) An encoder-decoder-like architecture, dubbed "speaker-follower" model, that not only decodes natural language instructions into a sequence of navigation actions using seq2seq, but also decodes a sequence of navigation actions and of image features into a sequence of natural language instructions using a symmetric seq2seq. That speaker model can then be used for scoring candidate routes (i.e., candidate sequences of images and actions) w.r.t. the likelihood of the natural language instruction under the speaker model. This enables a form of planning for the seq2seq-based agent. The image and motion are decomposed into 12 yaw and 3 pitch angles. The authors achieve state-of-the-art performance on the task and do a good ablation analysis of the impacts of their 3 improvements, although I would have liked to see navigation attention maps in the appendix as well.

Human navigation is facilitated through the association of actions with landmarks, tapping into our ability to recognize salient features in our environment. Consequently, navigational instructions for humans can be extremely concise, such as short verbal descriptions, indicating a small memory requirement and no reliance on complex and overly accurate navigation tools. Conversely, current autonomous navigation schemes rely on accurate positioning devices and algorithms as well as extensive streams of sensory data collected from the environment. Inspired by this human capability and motivated by the associated technological gap, in this work we propose a hierarchical end-to-end meta-learning scheme that enables a mobile robot to navigate in a previously unknown environment upon presentation of only a few sample images of a set of landmarks along with their corresponding high-level navigation actions. This dramatically simplifies the wayfinding process and enables easy adoption to new environments. For few-shot waypoint detection, we implement a metric-based few-shot learning technique through distribution embedding. Waypoint detection triggers the multi-task low-level maneuver controller module to execute the corresponding high-level navigation action. We demonstrate the effectiveness of the scheme using a small-scale autonomous vehicle on novel indoor navigation tasks in several previously unseen environments.

In existing task and motion planning (TAMP) research, it is a common assumption that experts manually specify the state space for task-level planning. A well-developed state space enables the desirable distribution of limited computational resources between task planning and motion planning. However, developing such task-level state spaces can be non-trivial in practice. In this paper, we consider a long horizon mobile manipulation domain including repeated navigation and manipulation. We propose Symbolic State Space Optimization (S3O) for computing a set of abstracted locations and their 2D geometric groundings for generating task-motion plans in such domains. Our approach has been extensively evaluated in simulation and demonstrated on a real mobile manipulator working on clearing up dining tables. Results show the superiority of the proposed method over TAMP baselines in task completion rate and execution time.

Getting robots to navigate to multiple objects autonomously is essential yet difficult in robot applications. One of the key challenges is how to explore environments efficiently with camera sensors only. Existing navigation methods mainly focus on fixed cameras and few attempts have been made to navigate with active cameras. As a result, the agent may take a very long time to perceive the environment due to limited camera scope. In contrast, humans typically gain a larger field of view by looking around for a better perception of the environment. How to make robots perceive the environment as efficiently as humans is a fundamental problem in robotics. In this paper, we consider navigating to multiple objects more efficiently with active cameras. Specifically, we cast moving camera to a Markov Decision Process and reformulate the active camera problem as a reinforcement learning problem. However, we have to address two new challenges: 1) how to learn a good camera policy in complex environments and 2) how to coordinate it with the navigation policy. To address these, we carefully design a reward function to encourage the agent to explore more areas by moving camera actively. Moreover, we exploit human experience to infer a rule-based camera action to guide the learning process. Last, to better coordinate two kinds of policies, the camera policy takes navigation actions into account when making camera moving decisions. Experimental results show our camera policy consistently improves the performance of multi-object navigation over four baselines on two datasets.