Preprint
Sep 2026
Revisiting Topological Graphs for Macro Action based Closed-loop Reinforcement Learning of Vision Language Navigation in Continuous Environment
This work reformulates VLN-CE as a Hierarchical Markov Decision Process (MDP), explicitly decoupling high-level planning from low-level control, and proposes an action-aware value head to effectively evaluate state values under the dynamic frontier action space, powering a graph-based PPO.
Shu-Hao Ye, Si-Tong Mao, Yu-Xiang Cui et al.
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