{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/2505-11383","title":"Dynam3D: Dynamic Layered 3D Tokens Empower VLM for Vision-and-Language Navigation","arxiv_id":"2505.11383","date":"2025-05-16","proceeding":null,"authors":["Zihan Wang","Seungjun Lee","Gim Hee Lee"],"abstract":"Vision-and-Language Navigation (VLN) is a core task where embodied agents leverage their spatial mobility to navigate in 3D environments toward designated destinations based on natural language instructions. Recently, video-language large models (Video-VLMs) with strong generalization capabilities and rich commonsense knowledge have shown remarkable performance when applied to VLN tasks. However, these models still encounter the following challenges when applied to real-world 3D navigation: 1) Insufficient understanding of 3D geometry and spatial semantics; 2) Limited capacity for large-scale exploration and long-term environmental memory; 3) Poor adaptability to dynamic and changing environments.To address these limitations, we propose Dynam3D, a dynamic layered 3D representation model that leverages language-aligned, generalizable, and hierarchical 3D representations as visual input to train 3D-VLM in navigation action prediction. Given posed RGB-D images, our Dynam3D projects 2D CLIP features into 3D space and constructs multi-level 3D patch-instance-zone representations for 3D geometric and semantic understanding with a dynamic and layer-wise update strategy. Our Dynam3D is capable of online encoding and localization of 3D instances, and dynamically updates them in changing environments to provide large-scale exploration and long-term memory capabilities for navigation. By leveraging large-scale 3D-language pretraining and task-specific adaptation, our Dynam3D sets new state-of-the-art performance on VLN benchmarks including R2R-CE, REVERIE-CE and NavRAG-CE under monocular settings. Furthermore, experiments for pre-exploration, lifelong memory, and real-world robot validate the effectiveness of practical deployment.","url_abs":"https://arxiv.org/abs/2505.11383v1","url_pdf":"https://arxiv.org/pdf/2505.11383v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"2505-11383","repo_url":"https://github.com/mrzihan/dynam3d","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[{"task_slug":"3d-geometry","task_name":"3D geometry"},{"task_slug":"navigate","task_name":"Navigate"},{"task_slug":"vision-and-language-navigation","task_name":"Vision and Language Navigation"}],"methods":[{"method_slug":"clip","method_name":"CLIP"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2505.11383","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}