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NaViRrator: Robot Navigation from Human-Readable Maps through a Learned Visual Route

arXiv · AI, language, vision and robotics · article · Sep 18, 2026 · UTC

Human-readable maps provide an intuitive interface for specifying robot destinations, but connecting their schematic geometry to egocentric observations remains challenging. We present NaViRRator, a framework that translates user-specified start and goal locations on such maps into navigation instructions for a pretrained vision-and-language navigation (VLN) policy. Its core method, RouteScribe, separates route inference from verbalization by first generating an explicit route scaffold in map-image coordinates, which a pretrained vision-language model (VLM) converts into a navigation instructi

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