Exploring Bottlenecks in VLM-LLM Navigation: How 3D Scene Understanding Capability Impacts Zero-Shot VLN

Zero-shot vision-and-language navigation (VLN) has gained significant attention due to its minimal data collection costs and inherent generalization. This paradigm is typically driven by the integration of pre-trained Vision-Language Models (VLMs) and Large Language Models (LLMs), where VLMs constru...