RoboTron-Nav: A Unified Framework for Embodied Navigation Integrating Perception, Planning, and Prediction

Abstract

In language-guided visual navigation, agents locate target objects in unseen environments using natural language instructions. For reliable navigation in unfamiliar scenes, agents should possess strong perception, planning, and prediction capabilities. Additionally, when agents revisit previously explored areas during long-term navigation, they may retain irrelevant and redundant historical perceptions, leading to suboptimal results. In this work, we propose RoboTron-Nav, a unified framework that integrates p erception, p lanning, and p rediction capabilities through multitask collaborations on navigation and embodied question answering tasks, thereby enhancing navigation performances. Furthermore, RoboTron-Nav employs an adaptive 3D-aware history sampling strategy to effectively and efficiently utilize historical observations. By leveraging large language model, RoboTron-Nav comprehends diverse commands and complex visual scenes, resulting in appropriate navigation actions. RoboTron-Nav achieves an 81.1% success rate in object goal navigation on the \mathrm CHORES -\mathbb S benchmark, setting a new state-of-the-art performance.