One MLLM, One Call: Efficient Zero-Shot Vision-and-Language Navigation via Spatial-Aware Waypoints
O2C-Nav is proposed, an efficient zero-shot navigation framework that calls only a single large model once per decision step and introduces a training-free structured waypoint generator and a novel abstract representation that projects sparse, history-aware candidate waypoints directly onto RGB images as visual markers...
Shi-Qi Pan, Qi Zheng, Hanmeng Sun et al.
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