HumanoidVLN: A Physics-Grounded Simulator and Benchmark for Vision-Language Navigation Across Diverse Humanoid Embodiments

Quan-Dung Pham, Anh Dao, The-Anh Nguyen +8

Vision-Language Navigation (VLN) for humanoid robots poses challenges existing benchmarks fail to address: bipedal locomotion imposes physical constraints absent from wheeled agent…