Minimalist Approach to End-to-End Vision Language Navigation with Multi-Modal Foundation Model Features

Recent vision-language navigation (VLN) approaches leverage large models, prompt engineering, and/or explicit reasoning for instruction interpretation and agent guidance. We introduce MiniNav, a minimalist framework employing frozen vision-language foundation models as patch-wise feature extractors, avoiding data and compute heavy fine-tuning and cumbersome language model reasoning. Our lightweight control policies (∼ 10⁵ trainable parameters) are trained on a compact dataset of language-based specified navigational behaviors (∼ 10² runs, ∼ 10⁴ frames per behavior). We demonstrate generalization to novel objects and scenes, including direct real-world transfer, despite training on only two objects in a single simulated environment. Through its simple and scalable design, MiniNav provides an alternative to computationally intensive pipelines for robust real-world instruction-following. Our solution can provide a reference for evaluating the effective edge of more complex and larger VLN policies.

Name thesis:degree_name

Master

Department dc:contributor.department

Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2025

Author dc:creator

• Mishra, Kartikesh

Advisor dc:contributor.advisor

• Rus, Daniela

Statement dc:rights

• In Copyright - Educational Use Permitted
• Copyright retained by author(s)

Licence dc:rights.uri

• https://rightsstatements.org/page/InC-EDU/1.0/

Handle dc:identifier.uri

https://hdl.handle.net/1721.1/163018

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/163018