Preprint
Jul 2026
GemNav: Discrete-Token Visual Robot Navigation using a Multimodal Large Language Model
GemNav is introduced, a visual robot navigation policy that adapts a frozen Multimodal Large Language Model (MLLM) for short-to-medium horizon waypoint navigation using Low-Rank Adaptation (LoRA) on the language tower alone, and results indicate that discrete-token adaptation of frozen MLLMs can provide a data-efficient, deployable alternative for foundation model robot navigation.
Peter Bohm, Saimunur Rahman, Abdelwahed Khamis et al.
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