NavJev: Efficient Vision-Language Navigation via Action-Centric Visual Compression and Discriminative Action-Semantic Memory

Abstract:Recent zero-shot Vision-and-Language Navigation (VLN) methods increasingly rely on multimodal large language models (MLLMs) to reason over visual observations, navigation instructions, and candidate actions. Although effective, repeatedly invoking autoregressive multimodal reasoning at every navigation step introduces substantial inference latency, limiting the responsiveness of embodied agents. We propose NavJev, an efficient VLN framework that reformulates online navigation from repeated multimodal generation into compact visual compression followed by lightweight typed action selection. Specifically, Action-Centric Visual Compression (ACVC) integrates waypoint geometry, BLIP captions, and RAM semantic tags into compact representations of candidate actions, while Discriminative Action-Semantic Memory (DASM) filters shared semantics and maintains discriminative action-specific evidence across navigation steps. Based on these representations, Jev directly performs structured probabilistic decisions over the available action set. Experiments on R2R-CE show that NavJev achieves 27.0% SR and 22.4% SPL with only 0.65 s per navigation step, while substantially reducing inference latency and cost compared with MLLM-based VLN methods. The project page is available at this https URL.

Robotics (cs.RO)

arXiv:2609.34969 [cs.RO]

(or arXiv:2609.34969v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2609.34969 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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