HarnessVLN: Unifying Training-Free Embodied Navigation through an Agent Harness
Summary
HarnessVLN is a zero-shot, training-free framework for embodied navigation that unifies perception, retrieval, grounding, navigation, recovery, and termination through a unified tool interface, achieving state-of-the-art results on benchmarks like R2R and RxR.
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Paper page - HarnessVLN: Unifying Training-Free Embodied Navigation through an Agent Harness
Source: https://huggingface.co/papers/2609.15195
Abstract
Embodiednavigationrequiresagentstointerpretvisualobservations,accumulatespatialknowledge,andexecuteactionstofollowinstructionsorlocateobjects.Training-basedmethodsfacegeneralizationchallenges,whiletraining-freemethodsexploitmultimodallargelanguagemodels(MLLMs)butoftenlackmechanismstoreconcileproposedactionswithspatialevidence,taskprogress,andexecutionfailures.WepresentHarnessVLN,azero-shot,training-freeframeworkwhoseAgentHarnesscoordinatesperception,retrieval,grounding,navigation,recovery,andterminationthroughaunifiedtoolinterface.TheHarnessvalidatesplannerproposalsagainstspatialevidence,geometricfeasibility,andsubgoalconsistency,incorporatingstructuredtoolfeedbackintosubsequentdecisions.Hierarchicaleventmemorytrackstaskprogressandexecutionhistory,whileapersistentSpatiotemporalGraphmaintainsreusablespatialevidenceandfailureannotationsforverificationandrecovery.AreplaceableNavigationExecutorconvertsvalidatedtargetsintoexecutablemotions,allowingthesameHarnessprotocoltosupportinstruction-followingandobject-goalnavigation.HarnessVLNachievessuccessratesof60.8%,53.9%,76.0%,and59.3%onR2R,RxR,HM3D-v2,andHM3D-OVON,respectively,surpassingpriortraining-freeSOTAresults.Humanoiddeploymentfurtherdemonstratesitsapplicabilitytobothtasksinreal-worldenvironments.Theprojectpageis:https://harnessvln.netlify.app/.
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