{"id":5055,"date":"2026-04-17T21:53:49","date_gmt":"2026-04-17T13:53:49","guid":{"rendered":"https:\/\/www.15zhi.net\/blog\/?p=5055"},"modified":"2026-04-17T21:53:49","modified_gmt":"2026-04-17T13:53:49","slug":"202604-%e8%ae%ba%e6%96%87%e7%a0%94%e8%af%bb-mapnav-a-novel-memory-representation-via-annotated-semantic-maps-for-vlm-based-vision-and-language-navigation","status":"publish","type":"post","link":"https:\/\/www.15zhi.net\/blog\/202604-%e8%ae%ba%e6%96%87%e7%a0%94%e8%af%bb-mapnav-a-novel-memory-representation-via-annotated-semantic-maps-for-vlm-based-vision-and-language-navigation\/","title":{"rendered":"202604 \u8bba\u6587\u7814\u8bfb-MapNav: A Novel Memory Representation via Annotated Semantic Maps for VLM-based Vision-and-Language Navigation"},"content":{"rendered":"\n<p>\u4f5c\u8005\uff1a\u5f20\u51cc\u5cf0\uff0c\u5f20\u6b23\u96c5\uff0c\u90dd\u5e05\uff0c\u5f90\u6c81\u6587\uff0c\u5f20\u5f3a\uff0c\u738b\u9e4f\u4f1f\uff0c\u5f20\u9759\uff0c\u738b\u4e2d\u539f\uff0c\u5f20\u5c1a\u822a\uff0c\u5f90\u4eba\u9759 <\/p>\n\n\n\n<p>\u65f6\u95f4\uff1a2025.7<\/p>\n\n\n\n<p>\u6765\u6e90\uff1aACL 2025<\/p>\n\n\n\n<p>\u5355\u4f4d\uff1a1 \u9999\u6e2f\u79d1\u6280\u5927\u5b66\uff08\u5e7f\u5dde\uff09\uff1b2 \u5317\u4eac\u4eba\u5de5\u667a\u80fd\u7814\u7a76\u9662\uff1b3 \u6e05\u534e\u5927\u5b66\uff1b<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u7814\u7a76\u80cc\u666f\u00a0<\/h2>\n\n\n\n<p>\u4efb\u52a1\u5b9a\u4e49\uff1a\u89c6\u89c9\u8bed\u8a00\u5bfc\u822a\uff08 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class=\"wp-block-heading\">\u6838\u5fc3\u8d21\u732e<\/h2>\n\n\n\n<p>1\u3001\u63d0\u51fa ASM\u00a0\uff1a\u8bbe\u8ba1\u4e86\u4e00\u79cd\u65b0\u578b\u7684\u8bb0\u5fc6\u8868\u5f81\u65b9\u5f0f\u2014\u2014\u201c\u6807\u6ce8\u8bed\u4e49\u5730\u56fe\u201d\u3002\u5b83\u5c06\u590d\u6742\u7684 3D \u73af\u5883\u4fe1\u606f\u538b\u7f29\u6210\u5e26\u6709\u6587\u5b57\u6807\u6ce8\u7684 2D \u4fef\u89c6\u56fe\uff0c\u6709\u6548\u66ff\u4ee3\u4e86\u6602\u8d35\u7684\u89c6\u9891\u5e27\u8bb0\u5fc6\u3002<\/p>\n\n\n\n<p>2\u3001\u6784\u5efa MapNav \u6846\u67b6\uff1a\u5f00\u53d1\u4e86\u4e00\u4e2a\u7aef\u5230\u7aef\u7684\u5bfc\u822a\u6a21\u578b\uff0c\u80fd\u591f\u540c\u65f6\u5904\u7406\u5f53\u524d\u89c6\u89d2\u56fe\u50cf\u3001ASM \u5730\u56fe\u548c\u8bed\u8a00\u6307\u4ee4\u3002<\/p>\n\n\n\n<p>3\u3001\u6781\u9ad8\u7684\u6548\u7387\uff1aMapNav \u5c06\u63a8\u7406\u65f6\u95f4\u51cf\u5c11\u4e86\u7ea6\u00a079.5%\uff0c\u4e14\u65e0\u8bba\u8def\u5f84\u591a\u957f\uff0c\u5185\u5b58\u5360\u7528\u59cb\u7ec8\u56fa\u5b9a\u5728\u00a00.17MB\u3002<\/p>\n\n\n\n<p>4\u3001SOTA \u6027\u80fd\uff1a\u5728 R2R-CE \u548c RxR-CE \u7b49\u4e3b\u6d41\u8fde\u7eed\u73af\u5883\u57fa\u51c6\u6d4b\u8bd5\u4e2d\uff0c\u6027\u80fd\u5168\u9762\u8d85\u8d8a\u4e86\u4ee5\u5f80\u7684 SOTA \u6a21\u578b\uff08\u5982 NaVid\uff09\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u6838\u5fc3\u65b9\u6cd5<\/h2>\n\n\n\n<p>MapNav \u7684\u5de5\u4f5c\u6d41\u7a0b\u4e3b\u8981\u5206\u4e3a&nbsp;ASM \u751f\u6210&nbsp;\u548c&nbsp;\u5bfc\u822a\u63a8\u7406&nbsp;\u4e24\u4e2a\u90e8\u5206\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"692\" height=\"174\" src=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/04\/image-27.png\" alt=\"\" class=\"wp-image-5059\" srcset=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/04\/image-27.png 692w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/04\/image-27-300x75.png 300w\" sizes=\"auto, (max-width: 692px) 100vw, 692px\" \/><\/figure>\n\n\n\n<p>\u4e00\u3001ASM \u751f\u6210\u6d41\u7a0b\u2014\u2014ASM \u662f\u4e00\u5f20\u65e2\u6709\u7269\u7406\u8f6e\u5ed3\uff0c\u53c8\u6709\u660e\u786e\u6587\u5b57\u8bf4\u660e\u7684\u5bfc\u822a\u56fe\u3002<br>1\u30013D \u70b9\u4e91\u6784\u5efa \uff1a<br>\u667a\u80fd\u4f53\u83b7\u53d6\u5f53\u524d\u7684 RGB-D \u56fe\u50cf\u548c\u76f8\u673a\u4f4d\u59ff\u3002<br>\u5c06\u8fd9\u4e9b 2D \u50cf\u7d20\u6839\u636e\u6df1\u5ea6\u4fe1\u606f\u8fd8\u539f\u5230 3D \u7a7a\u95f4\uff0c\u751f\u6210\u70b9\u4e91\u3002<br>2\u30012D \u6295\u5f71\u4e0e\u6620\u5c04\uff1a<br>\u5c06 3D \u70b9\u4e91\u4ece\u6b63\u4e0a\u65b9\u6295\u5f71\u5230 2D \u5e73\u9762\u4e0a\uff0c\u751f\u6210\u9876\u89c6\u89d2\u7684\u8bed\u4e49\u5730\u56fe\u3002<br>3\u3001\u6587\u672c\u6807\u6ce8 \uff1a<br>\u7cfb\u7edf\u5229\u7528\u8bed\u4e49\u5206\u5272\u8bc6\u522b\u51fa\u7269\u4f53\uff0c\u8ba1\u7b97\u5176\u4e2d\u5fc3\u70b9\uff0c\u5e76\u5728\u5730\u56fe\u5bf9\u5e94\u7684\u4f4d\u7f6e\u663e\u5f0f\u5730\u5199\u4e0a\u6587\u5b57\u6807\u7b7e\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"692\" height=\"444\" src=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/04\/32edf0b0ceaa1cf455a1094c4684a084.png\" alt=\"\" class=\"wp-image-5060\" srcset=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/04\/32edf0b0ceaa1cf455a1094c4684a084.png 692w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/04\/32edf0b0ceaa1cf455a1094c4684a084-300x192.png 300w\" sizes=\"auto, (max-width: 692px) 100vw, 692px\" \/><\/figure>\n\n\n\n<p>\u4e8c\u3001\u5bfc\u822a\u51b3\u7b56<br>1\u3001\u591a\u6a21\u6001\u8f93\u5165\uff1a                                                                                                      \u6a21\u578b\u540c\u65f6\u63a5\u6536 \u5f53\u524d\u89c6\u89d2\u56fe\u50cf\u3001\u5b9e\u65f6\u66f4\u65b0\u7684 ASM \u5730\u56fe\u3001\u7528\u6237\u8bed\u8a00\u6307\u4ee4 \u4e09\u4e2a\u8f93\u5165\u3002<br>2\u3001\u53cc\u6d41\u7f16\u7801\u5668\uff1a<br>\u4f7f\u7528\u89c6\u89c9\u7f16\u7801\u5668\u5206\u522b\u63d0\u53d6\u201c\u5f53\u524d\u56fe\u50cf\u201d\u548c\u201cASM \u5730\u56fe\u201d\u7684\u7279\u5f81\u3002<br>3\u3001\u5927\u8bed\u8a00\u6a21\u578b\u63a8\u7406\uff1a<br>\u5c06\u5bf9\u9f50\u540e\u7684\u89c6\u89c9\u7279\u5f81\u4e0e\u6307\u4ee4\u7279\u5f81\u8f93\u5165\u5230 Qwen2 \u7b49\u5927\u6a21\u578b\u4e2d\uff0c\u6a21\u578b\u76f4\u63a5\u8f93\u51fa\u4e0b\u4e00\u6b65\u7684\u81ea\u7136\u8bed\u8a00\u52a8\u4f5c\u6307\u4ee4\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u5b9e\u9a8c\u7ed3\u679c<\/h2>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"612\" src=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/04\/image-28-1024x612.png\" alt=\"\" class=\"wp-image-5061\" srcset=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/04\/image-28-1024x612.png 1024w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/04\/image-28-300x179.png 300w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/04\/image-28-768x459.png 768w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/04\/image-28.png 1261w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>A. \u6027\u80fd\u5bf9\u6bd4<br>\u4eff\u771f\u73af\u5883\uff1a\u5728 Habitat \u4eff\u771f\u5668\u4e0a\uff0cMapNav \u5728\u6210\u529f\u7387\uff08SR\uff09\u548c\u6210\u529f\u52a0\u6743\u8def\u5f84\u957f\u5ea6\uff08SPL\uff09\u4e0a\u663e\u8457\u4f18\u4e8e\u6b64\u524d\u7684\u6700\u5f3a\u6a21\u578b NaVid\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"174\" src=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/04\/image-29-1024x174.png\" alt=\"\" class=\"wp-image-5062\" srcset=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/04\/image-29-1024x174.png 1024w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/04\/image-29-300x51.png 300w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/04\/image-29-768x131.png 768w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/04\/image-29.png 1324w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><br>\u771f\u5b9e\u73af\u5883\u6d4b\u8bd5\uff1a\u5728\u529e\u516c\u697c\u3001\u4f1a\u8bae\u5ba4\u7b49\u771f\u5b9e\u573a\u666f\u4e2d\uff0c\u4f7f\u7528\u5b87\u6811 Go2 \u56db\u8db3\u673a\u5668\u4eba\u8fdb\u884c\u5b9e\u6d4b\uff0c\u8bc1\u660e\u4e86\u6781\u5f3a\u7684<strong>\u4ece\u4eff\u771f\u5230\u73b0\u5b9e<\/strong>\u7684\u8fc1\u79fb\u80fd\u529b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"617\" height=\"106\" src=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/04\/image-30.png\" alt=\"\" class=\"wp-image-5063\" srcset=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/04\/image-30.png 617w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/04\/image-30-300x52.png 300w\" sizes=\"auto, (max-width: 617px) 100vw, 617px\" \/><\/figure>\n\n\n\n<p>B. \u6548\u7387\u5206\u6790<br>\u5185\u5b58\u5360\u7528\uff1a\u4f20\u7edf\u65b9\u6cd5\u968f\u6b65\u6570\u589e\u52a0\u53ef\u80fd\u9700\u8981\u51e0\u767e MB \u5185\u5b58\uff0cMapNav \u59cb\u7ec8\u4fdd\u6301\u5728 0.17 MB\u3002<br>\u63a8\u7406\u901f\u5ea6\uff1a\u5355\u6b65\u63a8\u7406\u65f6\u95f4\u4ece 1.22 \u79d2\u964d\u81f3 0.25 \u79d2\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"611\" height=\"204\" src=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/04\/image-31.png\" alt=\"\" class=\"wp-image-5064\" srcset=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/04\/image-31.png 611w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/04\/image-31-300x100.png 300w\" sizes=\"auto, (max-width: 611px) 100vw, 611px\" \/><\/figure>\n\n\n\n<p>C. \u6d88\u878d\u5b9e\u9a8c\uff08\u8bc1\u660e ASM \u7684\u6709\u6548\u6027\uff09<br>\u53ea\u6709\u5730\u56fe vs \u5e26\u6807\u6ce8\u7684\u5730\u56fe\uff1a\u5b9e\u9a8c\u8bc1\u660e\uff0c\u5982\u679c\u5728\u5730\u56fe\u4e0a\u5220\u6389\u6587\u5b57\u6807\u6ce8\uff0c\u53ea\u5269\u8272\u5757\uff0c\u6a21\u578b\u7684\u6210\u529f\u7387\u4f1a\u5927\u5e45\u4e0b\u964d\u3002<br>\u7ed3\u8bba\uff1a\u663e\u5f0f\u7684<strong>\u6587\u5b57\u6807\u7b7e<\/strong>\u80fd\u663e\u8457\u5f15\u5bfc VLM \u7684\u6ce8\u610f\u529b\uff0c\u5e2e\u52a9\u6a21\u578b\u5b9e\u73b0\u8bed\u8a00\u63cf\u8ff0\u4e0e\u7269\u7406\u7a7a\u95f4\u7684\u7cbe\u51c6\u951a\u5b9a\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u7ed3\u8bba<\/h2>\n\n\n\n<p>MapNav 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