error correction 1imitation learning 1on-policy off-policy integration 1reinforcement learning 1trajectory sampling 1vision-and-language navigation 1
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cs.RO2026
Joint On-and-Off Policy Learning for Vision-and-Language Navigation
Qingrong He, Lin Zhao, Kevin Zheng +1
The paper presents JOP-VLN, a three-stage training framework that combines off‑policy imitation learning with on‑policy reinforcement learning to improve navigation and error recov…
cs.RO2026
BAT-Nav: Budget-Aware Arbitration and Termination for Long-Horizon Semantic Navigation
Xi Lin, Kangyi Wu, Jiayi Li +3
Long-horizon semantic navigation asks a robot to localize multiple open-vocabulary targets under a finite action budget. This setting exposes an execution failure that is largely h…