{"ID":23507271,"CreatedAt":"2026-09-18T02:21:44.056544415Z","UpdatedAt":"2026-09-20T18:11:56.143995915Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2609.20388","arxiv_id":"2609.20388","title":"Navi-Agent: Unlocalized Monocular Navigation Agent","abstract":"Vision-Language Navigation in Continuous Environments (VLN-CE) requires an embodied agent to execute long-horizon instructions in unknown environments. Existing zero-shot VLN-CE systems typically maintain spatial states through geometric localization or coordinate-based representations. Recent geometry-constrained navigation removes depth and globally consistent coordinates, but maintaining persistent spatial awareness for place confirmation, progress verification, and recovery remains challenging. We present Navi-Agent, a zero-shot VLN-CE agent that constructs a coordinate-free spatial state from visual observations and executed motion histories. Navi-Agent organizes this state as a navigation topology, where nodes represent visual places and edges represent motion transitions. This representation enables observation-based approximate self-localization, task progress verification, and visual revisitation-based recovery. Navi-Agent performs closed-loop navigation by decomposing instructions into sub-goals, executing local visual navigation, and verifying visited places through the constructed spatial state. Experiments on zero-shot VLN-CE benchmark and real-world robot platforms show that Navi-Agent achieves state-of-the-art performance among geometry-constrained methods while remaining competitive with approaches relying on geometric localization.","short_abstract":"Vision-Language Navigation in Continuous Environments (VLN-CE) requires an embodied agent to execute long-horizon instructions in unknown environments. Existing zero-shot VLN-CE systems typically maintain spatial states through geometric localization or coordinate-based representations. Recent geometry-constrained navi...","url_abs":"https://arxiv.org/abs/2609.20388","url_pdf":"https://arxiv.org/pdf/2609.20388v1","authors":"[\"Wenyuan Xie\",\"Mengyang Hong\",\"Yongzhong Wang\",\"Yanbiao Ji\",\"Yijin Zhou\",\"Shaokai Wu\",\"Shalayiding Sirejiding\",\"Huayi Zhou\",\"Yi-Chao Chen\",\"Ma Ling\",\"Yue Ding\",\"Hongtao Lu\"]","published":"2026-09-17T13:41:27Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"cs.CV\"]","methods":"[\"Generative Adversarial Network\"]","has_code":false}