This work develops a general, statistically efficient framework for last-iterate convergence in structured Constrained MDPs (CMDPs), and validate the stabilising effect predicted by the theory on a synthetic linear CMDP: the regularised method exhibits stable last-iterate behaviour, whereas its unregularised counterpar...
Nam Phuong Tran, Trinh Ha Mai Huynh, T. P. Le et al.· 0 citations
Bounded navigation-aware retention preserves navigation performance while considerably reducing GFM-KV memory relative to larger-memory temporal retention, which support jointly examining the geometric representations exposed to the policy and the historical evidence retained for future inference.
Q. Phạm, Anh Dao, Danh Vinh Le et al.· 0 citations
OpenBelief-Nav is presented, an evidence-preserving object memory that retains observation-level phrases, reliability cues, and frame-mask provenance while maintaining separate aggregate geometric and visual representations.
Dinh Tuan Nguyen, Anh Dao, Phuong Nam Dang et al.· 0 citations
HumanoidVLN, a physics-grounded simulator and benchmark for VLN across diverse humanoid embodiments, and compatibility with NaVILA, DualVLN, StreamVLN, and JanusVLN are presented.
Q. Phạm, Anh Dao, T. Nguyen et al.· 2 citations
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