InsightMap: Structured Spatial Modeling for Embodied Multimodal Reasoning
arXiv:2609.37187v1 Announce Type: cross Abstract: Language-guided navigation requires connecting partial observations to a persistent spatial reference and learning how actions change that representation. We introduce InsightMap, a framework that uses top-down maps as both explicit spatial memory and action-conditioned prediction targets. Historical views are linked to labeled map locations, and a shared multimodal backbone jointly learns navigation action prediction and post-action map generat
Overview
arXiv:2609.37187v1 Announce Type: cross Abstract: Language-guided navigation requires connecting partial observations to a persistent spatial reference and learning how actions change that representation. We introduce InsightMap, a framework that uses top-down maps as both explicit spatial memory and action-conditioned prediction targets. Historical views are linked to labeled map locations, and a shared multimodal backbone jointly learns navigation action prediction and post-action map generation. Map prediction provides auxiliary training supervision, while navigation inference decodes actions from the observed spatial context. An aligned RGB-D data pipeline supports a common interface for navigation, visual question answering, situated reasoning, and 3D grounding. On the validation-unseen splits of R2R-CE and RxR-CE, InsightMap achieves success rates (SR) of 56.9% and 54.9%, respectively. Adding map-prediction supervision improves R2R-CE SR by 4.3 and success weighted by path length (SPL) by 3.2 percentage points. On static spatial tasks, InsightMap achieves 103.7 CIDEr on ScanQA, 60.1% exact-match accuracy on SQA3D, and 53.1% grounding accuracy at 0.5 IoU on ScanRefer with detected object proposals. On Unitree Go2, it outperforms NaVid and NaVILA in hallway, lab, and office environments.
Source
Originally published at arxiv.org.
Related Articles
Source: https://arxiv.org/abs/2609.37187
