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cs.RO2026
TONAV: Task-Oriented Navigation and Action-Velocity Chunk Learning for Articulated Object Quadrupedal Mobile Manipulation
Haoran Lin, Mingyu Yang, Pengfei Qi +6
Quadruped mobile manipulation requires two tightly coupled capabilities: reaching manipulation-ready configurations and maintaining stable contact throughout articulated-object int…
cs.RO2026
DA-Nav: Direction-Aware City-Scale Vision-Language Navigation
Ye Yuan, Kehan Chen, Xinqiang Yu +7
City-scale outdoor navigation is currently hindered by the heavy reliance on dense maps or costly navigation supervision. In this work, we introduce a novel paradigm for leveraging…
cs.RO2026
FloorPlan-VLN: A New Paradigm for Floor Plan Guided Vision-Language Navigation
Kehan Chen, Yan Huang, Dong An +5
Existing Vision-Language Navigation (VLN) task requires agents to follow verbose instructions, ignoring some potentially useful global spatial priors, limiting their capability to…