Goal2Pixel: ナビゲーション目標をピクセルに接地する視覚言語ナビゲーション
Goal2Pixel: Grounding Goals to Pixels for Vision-Language Navigation
視覚言語ナビゲーションを、行動予測ではなく画像平面上のナビゲーション可能なピクセル接地として再定式化し、VLMの推論回数を大幅に削減しつつ高性能を達成した。
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著者: Muyi Bao, Yuxin Cai, Hang Xu, Zongtai Li, Jinxi He, Jingfan Tang, Chen Lv, Ji Zhang, Yaqi Xie, Wenshan Wang
分類: cs.CV, cs.RO
原文アブストラクト
Vision-language models (VLMs) have become a common foundation for vision-and-language navigation in continuous environments (VLN-CE). Yet most VLM-based methods cast navigation as low-level action prediction, an interface that is ambiguous, tied to short-horizon motion primitives, and inefficient due to repeated VLM querying. We propose Goal2Pixel, a pure pixel-based paradigm that reformulates VLN-CE as navigable pixel grounding. Rather than predicting actions, Goal2Pixel uses the image plane as a unified spatial interface between VLM reasoning and robot motion: the model predicts a visible navigable pixel to the agent, which is back-projected into a 3D waypoint for forward navigation. For non-forward actions, we append auxiliary directive regions to the image plane, where the left/right/bottom regions are interpreted as turning left, turning right, and stopping, respectively. To enable long-horizon navigation, we propose a visibility-aware keyframe memory for compact and informative history representation. To adapt pretrained VLMs to navigable pixel grounding, we introduce semantic embeddings and coordinate-aware auxiliary losses. Goal2Pixel achieves competitive state-of-the-art performance while requiring fewer VLM inference calls than prior methods. On R2R-CE Val-Unseen it achieves 54.1% SR and 52.5% SPL with just 7.75 VLM calls per episode, 6x fewer than the 46.62 required by direct action prediction at 32.9% SR. The same trend holds on RxR-CE.Project Page: https://baobao0926.github.io/Goal2Pixel/.
