navigation

HarnessVLN: Unifying Training-Free Embodied Navigation through an Agent Harnessarxiv.org

HarnessVLN introduces a zero‑shot, training‑free embodied navigation framework that wraps a multimodal LLM in an "Agent Harness" – a tool‑based protocol that validates planner actions against spatial evidence, tracks progress with hierarchical event memory, and maintains a persistent spatiotemporal graph for recovery. The system works for instruction‑following and object‑goal tasks, achieving 60.…