{"id":"https://openalex.org/W7168282213","doi":"https://doi.org/10.48550/arxiv.2607.11638","title":"DA-Nav: Direction-Aware City-Scale Vision-Language Navigation","display_name":"DA-Nav: Direction-Aware City-Scale Vision-Language Navigation","publication_year":2026,"publication_date":"2026-07-13","ids":{"openalex":"https://openalex.org/W7168282213","doi":"https://doi.org/10.48550/arxiv.2607.11638"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2607.11638","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.11638","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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.2607.11638","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5140631867","display_name":"Ye Yuan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yuan, Ye","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140659408","display_name":"Kehan Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Kehan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140623043","display_name":"Xinqiang Yu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yu, Xinqiang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140582799","display_name":"Wentao Xu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xu, Wentao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140699060","display_name":"Heng Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Heng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140736939","display_name":"Libo Huang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Libo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140608016","display_name":"Chuanguang Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Chuanguang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140736232","display_name":"Yan Huang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Yan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140728132","display_name":"Jiawei He","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"He, Jiawei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5140689599","display_name":"Zhulin An","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"An, Zhulin","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":0.8051999807357788,"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":0.8051999807357788,"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":0.08209999650716782,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.025699999183416367,"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/trajectory","display_name":"Trajectory","score":0.5623999834060669},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5597000122070312},{"id":"https://openalex.org/keywords/executable","display_name":"Executable","score":0.5271999835968018},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.47279998660087585},{"id":"https://openalex.org/keywords/bridge","display_name":"Bridge (graph theory)","score":0.45989999175071716},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.4472000002861023},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.3889000117778778}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7515000104904175},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.583899974822998},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5623999834060669},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5597000122070312},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5360000133514404},{"id":"https://openalex.org/C160145156","wikidata":"https://www.wikidata.org/wiki/Q778586","display_name":"Executable","level":2,"score":0.5271999835968018},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.47279998660087585},{"id":"https://openalex.org/C100776233","wikidata":"https://www.wikidata.org/wiki/Q2532492","display_name":"Bridge (graph theory)","level":2,"score":0.45989999175071716},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.4472000002861023},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3889000117778778},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.3889000117778778},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.35589998960494995},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3176000118255615},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3154999911785126},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.3131999969482422},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.30329999327659607},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.2833999991416931},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.26660001277923584},{"id":"https://openalex.org/C2780297707","wikidata":"https://www.wikidata.org/wiki/Q4895393","display_name":"Landmark","level":2,"score":0.2644999921321869}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2607.11638","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.11638","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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.2607.11638","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.11638","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":[{"id":"https://metadata.un.org/sdg/11","score":0.8096933960914612,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"City-scale":[0],"outdoor":[1,167],"navigation":[2,15,31,45,66,168],"is":[3],"currently":[4],"hindered":[5],"by":[6],"the":[7,38,74],"heavy":[8],"reliance":[9],"on":[10,73],"dense":[11],"maps":[12],"or":[13],"costly":[14],"supervision.":[16],"In":[17],"this":[18],"work,":[19],"we":[20,56],"introduce":[21,101],"a":[22,59,68,85,103,129,146],"novel":[23],"paradigm":[24],"for":[25],"leveraging":[26],"directional":[27],"instructions":[28,42,108],"from":[29],"commercial":[30,41],"tools":[32],"(e.g.,":[33],"Google":[34],"Maps).":[35],"To":[36,79],"bridge":[37],"gap":[39],"between":[40],"and":[43,95,109,116,160],"executable":[44],"actions,":[46],"while":[47,144],"mitigating":[48],"long-horizon":[49],"error":[50],"accumulation":[51],"through":[52],"robust":[53],"trajectory":[54,81],"recovery,":[55,82],"propose":[57],"DA-Nav,":[58],"Direction-Aware":[60],"vision-language":[61],"Navigation":[62],"framework":[63],"that":[64,105,126],"reformulates":[65],"as":[67],"discrete":[69],"spatial":[70,114],"grounding":[71,115],"problem":[72],"egocentric":[75],"2D":[76],"image":[77],"plane.":[78],"achieve":[80],"DA-Nav":[83,127,154],"employs":[84],"Chain-of-Thought":[86],"(CoT)":[87],"reasoning":[88],"process":[89],"encompassing":[90],"deviation":[91],"assessment,":[92],"action":[93],"prediction,":[94],"target":[96],"grid":[97],"selection.":[98],"We":[99],"further":[100],"ReDA,":[102],"dataset":[104],"provides":[106],"direction-aware":[107],"recovery":[110,119,149],"trajectories":[111],"to":[112,157],"enhance":[113],"support":[117],"CoT":[118],"reasoning.":[120],"Extensive":[121],"experiments":[122],"in":[123,135,169],"CARLA":[124],"demonstrate":[125],"achieves":[128],"high":[130],"success":[131],"rate":[132],"of":[133],"56.16%":[134],"unseen":[136],"urban":[137],"environments,":[138],"outperforming":[139],"existing":[140],"State-of-The-Art":[141],"(SoTA)":[142],"methods":[143],"maintaining":[145],"substantially":[147],"stronger":[148],"capability.":[150],"Furthermore,":[151],"without":[152],"fine-tuning,":[153],"seamlessly":[155],"adapts":[156],"both":[158],"quadruped":[159],"humanoid":[161],"robots,":[162],"enabling":[163],"stable":[164],"kilometer-scale":[165],"closed-loop":[166],"complex":[170],"real":[171],"world":[172],"environments.":[173]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-07-15T00:00:00"}