Jul 2026
UniLM-Nav: A Unified Framework for Zero-Shot Last-Mile Navigation
UniLM-Nav decomposes last-mile navigation into view selection, task-conditioned affordance grounding, and geometry-aware base-pose reasoning, all resolved with a shared multimodal large language model (MLLM) backend, which outperforms the previous state-of-the-art method, MoTo, on the OVMM benchmark.
Zhuofan Zhang, Tian-Xu Wang, Guo-Xi Zhang et al.
· arXiv.org · 1 citation