{"id":"https://openalex.org/W7172303800","doi":"https://doi.org/10.48550/arxiv.2607.29600","title":"HAM-VLN: Harnessing Hierarchical Agentic Memory for Zero-Shot Vision-and-Language Navigation","display_name":"HAM-VLN: Harnessing Hierarchical Agentic Memory for Zero-Shot Vision-and-Language Navigation","publication_year":2026,"publication_date":"2026-07-31","ids":{"openalex":"https://openalex.org/W7172303800","doi":"https://doi.org/10.48550/arxiv.2607.29600"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2607.29600","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.29600","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.2607.29600","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5144278493","display_name":"An Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, An","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5144293803","display_name":"Bingxi Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Bingxi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5144307218","display_name":"Hongyu Ding","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ding, Hongyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5144299679","display_name":"Yixuan Jiang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jiang, Yixuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5144260602","display_name":"Yaran Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Yaran","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006625202","display_name":"Fulin Tang","orcid":"https://orcid.org/0000-0002-8474-2671"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tang, Fulin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021471271","display_name":"Cong Leng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Leng, Cong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5144279204","display_name":"Hong Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Hong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5144256530","display_name":"Jian Cheng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cheng, Jian","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":0.9761000275611877,"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":0.9761000275611877,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.003599999938160181,"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":0.0019000000320374966,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6460999846458435},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6237000226974487},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.5241000056266785},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.3714999854564667},{"id":"https://openalex.org/keywords/semantics","display_name":"Semantics (computer science)","score":0.3472000062465668},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.3400000035762787},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.33469998836517334},{"id":"https://openalex.org/keywords/semantic-mapping","display_name":"Semantic mapping","score":0.3255000114440918}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6966000199317932},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6460999846458435},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6237000226974487},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5249999761581421},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.5241000056266785},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.3714999854564667},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3571999967098236},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.3472000062465668},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.3400000035762787},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.33469998836517334},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.3255000114440918},{"id":"https://openalex.org/C88576662","wikidata":"https://www.wikidata.org/wiki/Q18646","display_name":"Episodic memory","level":3,"score":0.3230000138282776},{"id":"https://openalex.org/C2780297707","wikidata":"https://www.wikidata.org/wiki/Q4895393","display_name":"Landmark","level":2,"score":0.3199999928474426},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3160000145435333},{"id":"https://openalex.org/C197914299","wikidata":"https://www.wikidata.org/wiki/Q18650","display_name":"Semantic memory","level":3,"score":0.3003999888896942},{"id":"https://openalex.org/C59656382","wikidata":"https://www.wikidata.org/wiki/Q191536","display_name":"Conjunction (astronomy)","level":2,"score":0.28459998965263367},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.2818000018596649},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.27239999175071716},{"id":"https://openalex.org/C64754055","wikidata":"https://www.wikidata.org/wiki/Q7574053","display_name":"Spatial contextual awareness","level":2,"score":0.2671000063419342},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.2567000091075897}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2607.29600","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.29600","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.2607.29600","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.29600","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":[{"display_name":"Peace, Justice and strong institutions","score":0.4329490661621094,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Vision-and-language":[0],"navigation":[1,35,90,143],"(VLN)":[2],"enables":[3],"robots":[4],"to":[5,24,75,135],"follow":[6],"instructions":[7],"in":[8],"previously":[9],"unseen":[10],"environments.":[11],"Recently,":[12],"a":[13,21,46,55,64,100],"training-free":[14],"paradigm":[15],"has":[16],"emerged:":[17],"the":[18,30,61,70,77,107,131,148],"robot":[19,62],"queries":[20],"multimodal":[22],"LLM":[23,128],"understand":[25],"its":[26],"observations":[27],"and":[28,49,84,92,116,170],"plan":[29],"next":[31,78],"action.":[32],"However,":[33],"long-horizon":[34],"based":[36],"on":[37,162,167,173],"either":[38],"image":[39],"streams":[40],"or":[41],"dense":[42],"map":[43],"inevitably":[44],"introduces":[45],"growing":[47],"memory":[48,58],"reasoning":[50],"bottleneck.":[51],"We":[52],"present":[53],"HAM-VLN,":[54],"decision-coupled,":[56],"agent-authored":[57],"that":[59],"equips":[60],"with":[63,119],"persistent,":[65],"depth-grounded":[66],"world":[67],"graph.":[68],"In":[69],"same":[71],"model":[72],"call":[73],"used":[74],"select":[76],"action,":[79],"HAM-VLN":[80,138,156],"also":[81,146],"records":[82],"semantic":[83],"reflective":[85],"information---including":[86],"room":[87],"type,":[88],"objects,":[89],"progress,":[91],"failure":[93],"notes.":[94],"Recent":[95],"waypoints":[96],"remain":[97],"verbatim":[98],"within":[99],"bounded":[101],"window,":[102],"while":[103],"older":[104],"history":[105],"re-enters":[106],"context":[108,149],"only":[109,140],"through":[110],"retrieval":[111],"scored":[112],"by":[113,151],"relevance,":[114],"recency,":[115],"salience,":[117],"together":[118],"one-hop":[120],"topological":[121],"expansion.":[122],"This":[123],"design":[124],"requires":[125],"no":[126],"additional":[127],"calls":[129],"beyond":[130],"per-waypoint":[132],"decision.":[133],"Compared":[134],"previous":[136],"methods,":[137],"not":[139],"improves":[141],"various":[142],"metrics":[144],"but":[145],"reduces":[147],"length":[150],"more":[152],"than":[153],"65%.":[154],"Specifically,":[155],"achieves":[157],"61.0%":[158],"Success":[159],"Rate":[160],"(SR)":[161],"VLN-CE":[163,168],"R2R,":[164],"52.7%":[165],"SR":[166,172],"RxR,":[169],"79.7%":[171],"HM3D-v2":[174],"ObjectNav":[175],"without":[176],"any":[177],"training.":[178]},"counts_by_year":[],"updated_date":"2026-08-04T08:18:43.703281","created_date":"2026-08-04T00:00:00"}