Abstract
General-purpose embodied robots should support both navigation toward language-specified destinations and dynamic person tracking under arbitrary initial target azimuths. However, existing methods typically rely on forward-facing observations and address these tasks with separate policies, limiting omnidirectional perception and unified closed-loop control. We present UniTrackPLA, a unified panorama-language-action model for instruction-guided navigation and dynamic person tracking. Its Panoramic-Aware Encoding (PAE) preserves the temporal and azimuthal structure of perspective views projected from each panorama, enabling perspective-pretrained visual encoders to process omnidirectional observations. A shared vision-language backbone grounds instructions in the panoramic context and predicts continuous robot-centric waypoint chunks for both tasks. World-Action Consistency (WAC) further predicts action-conditioned future visual states and verifies waypoint prefixes online, allowing reliable actions to be reused while triggering replanning upon inconsistency. We also introduce OmniTrackNav-Bench, comprising 5,000 simulated tracking trajectories, 10,000 simulated VLN routes, and 96 verified real-world routes, providing 919,978 waypoint-supervision instances. UniTrackPLA improves overall tracking SR from 23.50% to 35.00% and Omni-VLN SR/SPL from 13.00%/12.77% to 19.75%/19.29%. Incorporating 76 real-world routes further improves held-out EP@0.2m from 42.92% to 92.08%. Closed-loop experiments on a Go2-W robot demonstrate unified panoramic tracking and navigation across indoor and outdoor environments. The project page is at https://tw5775.github.io/UniTrackPLA.
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Cite this article
APA 7
Qi, P., Lin, H., Chen, S., Luo, K., Zhang, S., Liu, X., Cheng, F., Chen, W., Yin, L., & Yang, K. (2026). UniTrackPLA: Unified Panorama-Language-Action Model for Instruction-Guided Navigation and Dynamic Person Tracking. https://omanscience.com/en/articles/unitrackpla-unified-panorama-language-action-model-for-instruction-guided-navigation-and-dynamic-person-tracking
MLA 9
Qi, Pengfei, et al. "UniTrackPLA: Unified Panorama-Language-Action Model for Instruction-Guided Navigation and Dynamic Person Tracking." https://omanscience.com/en/articles/unitrackpla-unified-panorama-language-action-model-for-instruction-guided-navigation-and-dynamic-person-tracking.
Chicago (author–date)
Qi, Pengfei, Haoran Lin, Sizhuang Chen, Kai Luo, Sirui Zhang, Xinqi Liu, Fei Cheng, Wenrui Chen, Liming Yin, and Kailun Yang. 2026. "UniTrackPLA: Unified Panorama-Language-Action Model for Instruction-Guided Navigation and Dynamic Person Tracking." https://omanscience.com/en/articles/unitrackpla-unified-panorama-language-action-model-for-instruction-guided-navigation-and-dynamic-person-tracking.
Harvard
Qi, P., Lin, H., Chen, S., Luo, K., Zhang, S., Liu, X., Cheng, F., Chen, W., Yin, L. and Yang, K. (2026) 'UniTrackPLA: Unified Panorama-Language-Action Model for Instruction-Guided Navigation and Dynamic Person Tracking', Available at: https://omanscience.com/en/articles/unitrackpla-unified-panorama-language-action-model-for-instruction-guided-navigation-and-dynamic-person-tracking.
Vancouver
Qi P, Lin H, Chen S, Luo K, Zhang S, Liu X, et al. UniTrackPLA: Unified Panorama-Language-Action Model for Instruction-Guided Navigation and Dynamic Person Tracking. https://omanscience.com/en/articles/unitrackpla-unified-panorama-language-action-model-for-instruction-guided-navigation-and-dynamic-person-tracking
IEEE
P. Qi, H. Lin, S. Chen, K. Luo, S. Zhang, X. Liu, F. Cheng, W. Chen, L. Yin, and K. Yang, "UniTrackPLA: Unified Panorama-Language-Action Model for Instruction-Guided Navigation and Dynamic Person Tracking," https://omanscience.com/en/articles/unitrackpla-unified-panorama-language-action-model-for-instruction-guided-navigation-and-dynamic-person-tracking.