{"id":"https://openalex.org/W7155506046","doi":"https://doi.org/10.48550/arxiv.2604.21363","title":"A Deployable Embodied Vision-Language Navigation System with Hierarchical Cognition and Context-Aware Exploration","display_name":"A Deployable Embodied Vision-Language Navigation System with Hierarchical Cognition and Context-Aware Exploration","publication_year":2026,"publication_date":"2026-04-23","ids":{"openalex":"https://openalex.org/W7155506046","doi":"https://doi.org/10.48550/arxiv.2604.21363"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.21363","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.21363","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2604.21363","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5134508765","display_name":"Kuan Xu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xu, Kuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128116046","display_name":"Ruimeng Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Ruimeng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113700322","display_name":"Yizhuo Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Yizhuo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040157362","display_name":"Denan Liang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liang, Denan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059998802","display_name":"Tongxing Jin","orcid":"https://orcid.org/0009-0003-6250-1687"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jin, Tongxing","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134494691","display_name":"Shenghai Yuan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yuan, Shenghai","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085374770","display_name":"C. Wang","orcid":"https://orcid.org/0000-0001-9116-055X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Chen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5134549673","display_name":"Lihua Xie","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xie, Lihua","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.7501999735832214,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.7501999735832214,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.08649999648332596,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.04430000111460686,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.5720000267028809},{"id":"https://openalex.org/keywords/embodied-cognition","display_name":"Embodied cognition","score":0.5705000162124634},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.5310999751091003},{"id":"https://openalex.org/keywords/cognitive-robotics","display_name":"Cognitive robotics","score":0.5109000205993652},{"id":"https://openalex.org/keywords/bridging","display_name":"Bridging (networking)","score":0.4514000117778778},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.43799999356269836},{"id":"https://openalex.org/keywords/cognition","display_name":"Cognition","score":0.4262000024318695},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4140999913215637}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7081000208854675},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.5720000267028809},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.5705000162124634},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.5310999751091003},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5178999900817871},{"id":"https://openalex.org/C192327766","wikidata":"https://www.wikidata.org/wiki/Q1038799","display_name":"Cognitive robotics","level":3,"score":0.5109000205993652},{"id":"https://openalex.org/C174348530","wikidata":"https://www.wikidata.org/wiki/Q188635","display_name":"Bridging (networking)","level":2,"score":0.4514000117778778},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.43799999356269836},{"id":"https://openalex.org/C169900460","wikidata":"https://www.wikidata.org/wiki/Q2200417","display_name":"Cognition","level":2,"score":0.4262000024318695},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4140999913215637},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4106999933719635},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.3962000012397766},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.38960000872612},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.3677000105381012},{"id":"https://openalex.org/C66746571","wikidata":"https://www.wikidata.org/wiki/Q1134833","display_name":"ENCODE","level":3,"score":0.36250001192092896},{"id":"https://openalex.org/C103683099","wikidata":"https://www.wikidata.org/wiki/Q5370102","display_name":"Embodied agent","level":3,"score":0.34150001406669617},{"id":"https://openalex.org/C151319957","wikidata":"https://www.wikidata.org/wiki/Q752739","display_name":"Asynchronous communication","level":2,"score":0.337799996137619},{"id":"https://openalex.org/C2778156585","wikidata":"https://www.wikidata.org/wiki/Q174053","display_name":"Relay","level":3,"score":0.3172000050544739},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.30239999294281006},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.28529998660087585},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2572000026702881},{"id":"https://openalex.org/C161301231","wikidata":"https://www.wikidata.org/wiki/Q3478658","display_name":"Knowledge representation and reasoning","level":2,"score":0.25360000133514404},{"id":"https://openalex.org/C170494330","wikidata":"https://www.wikidata.org/wiki/Q1778434","display_name":"Cognitive map","level":3,"score":0.2531000077724457},{"id":"https://openalex.org/C124527596","wikidata":"https://www.wikidata.org/wiki/Q17029359","display_name":"Hierarchical control system","level":3,"score":0.25130000710487366}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.21363","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.21363","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2604.21363","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.21363","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Bridging":[0],"the":[1,143],"gap":[2],"between":[3,44,103],"embodied":[4,60],"intelligence":[5],"and":[6,20,31,47,68,84,116,142,153,160,174],"embedded":[7],"deployment":[8,48],"remains":[9],"a":[10,42,58,80,85,96,112,122,131],"key":[11],"challenge":[12],"in":[13,151],"intelligent":[14],"robotic":[15],"systems,":[16],"where":[17],"perception,":[18],"reasoning,":[19,108],"planning":[21],"must":[22],"operate":[23],"under":[24],"strict":[25],"constraints":[26],"on":[27,50,72,170],"computation,":[28],"memory,":[29],"energy,":[30],"real-time":[32,168],"execution.":[33],"In":[34,53],"vision-and-language":[35],"navigation":[36,158],"(VLN),":[37],"existing":[38,163],"approaches":[39,165],"often":[40],"face":[41],"trade-off":[43],"reasoning":[45,71,87,140],"capability":[46],"efficiency":[49,67,161],"real-world":[51,73,154,176],"platforms.":[52],"this":[54],"paper,":[55],"we":[56,109,127],"present":[57],"deployable":[59],"VLN":[61,164],"system":[62,76],"that":[63],"achieves":[64],"both":[65],"high":[66],"strong":[69],"high-level":[70],"robots.":[74],"The":[75],"is":[77],"decomposed":[78,119],"into":[79,121],"fast":[81],"perception-action":[82],"layer":[83,88,99],"deep":[86],"running":[89],"asynchronously":[90],"at":[91,180],"different":[92],"time":[93],"scales,":[94],"with":[95],"shared":[97],"memory":[98,114],"enabling":[100],"efficient":[101],"interaction":[102],"them.":[104],"To":[105],"support":[106],"long-horizon":[107],"incrementally":[110],"construct":[111],"compact":[113],"graph":[115],"progressively":[117],"feed":[118],"subgraphs":[120],"vision-language":[123],"model":[124],"(VLM).":[125],"Furthermore,":[126],"formulate":[128],"exploration":[129],"as":[130],"Weighted":[132],"Traveling":[133],"Repairman":[134],"Problem":[135],"(WTRP)":[136],"by":[137],"jointly":[138],"considering":[139],"outcomes":[141],"spatial":[144],"distribution":[145],"of":[146],"candidate":[147],"regions.":[148],"Extensive":[149],"experiments":[150,177],"simulation":[152],"environments":[155],"demonstrate":[156],"improved":[157],"success":[159],"over":[162],"while":[166],"maintaining":[167],"performance":[169],"resource-constrained":[171],"hardware.":[172],"Code":[173],"additional":[175],"are":[178],"available":[179],"https://github.com/xukuanHIT/HiCo-Nav.":[181]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-04-25T00:00:00"}