{"ID":5937995,"CreatedAt":"2026-07-07T03:14:33.014478982Z","UpdatedAt":"2026-07-07T15:19:20.093707542Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2607.03920","arxiv_id":"2607.03920","title":"LH-AVLN: A Benchmark for Long-Horizon Audio-Visual-Language Navigation","abstract":"Embodied navigation is moving toward long-horizon missions, yet existing long-horizon benchmarks are largely acoustically silent, and audio-visual navigation tasks typically focus on a single goal. We introduce LH-AVLN, a benchmark for Long-Horizon Audio-Visual-Language Navigation that combines multi-goal mission execution, heterogeneous goal specifications, and persistent spatialized acoustic cues. In LH-AVLN, an agent receives a global mission of two to four goals specified by category, language description, or reference image, and navigates with RGB-D observations, pose, and binaural audio in indoor 3D environments. The benchmark supports both ordered and unordered missions, where alternating goal-associated sounds can guide non-line-of-sight search but may also become distractors as mission progress changes. We further develop PAG-Nav, a training-free reference agent that maintains a temporal uniform semantic map and performs progressive goal-state planning, using sound for search while reserving completion for visual-semantic verification. Experiments show that existing vision-language, memory-based, and audio-visual agents struggle to complete full LH-AVLN missions, and that PAG-Nav provides a stronger diagnostic baseline while leaving substantial room for future progress.","short_abstract":"Embodied navigation is moving toward long-horizon missions, yet existing long-horizon benchmarks are largely acoustically silent, and audio-visual navigation tasks typically focus on a single goal. We introduce LH-AVLN, a benchmark for Long-Horizon Audio-Visual-Language Navigation that combines multi-goal mission execu...","url_abs":"https://arxiv.org/abs/2607.03920","url_pdf":"https://arxiv.org/pdf/2607.03920v1","authors":"[\"Rufeng Chen\",\"Yue Chang\",\"Zili Shao\",\"Zhaofan Zhang\",\"Hechang Chen\",\"Hui Xiong\",\"Sihong Xie\"]","published":"2026-07-04T15:25:25Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}