Preprint Open access
Affordance-Conditioned Decision Making: Bridging the Semantic-Spatial Gap in Zero-Shot Cross-Floor Vision-and-Language Navigation
Vision-and-language navigation increasingly relies on general-purpose semantic planners, yet translating correct high-level intent into reliable physical execution remains difficult in spatially constrained transitions. Reaching a staircase, doorway, or narrow passage does not ensure traversal; the agent must identify …