OpenFrontier: General Navigation with Visual-Language Grounded Frontiers
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arXiv
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| Format: | Preprint |
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2026
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| _version_ | 1866918502517964800 |
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| author | Padilla-Cerdio, Esteban Sun, Boyang Pollefeys, Marc Blum, Hermann |
| author_facet | Padilla-Cerdio, Esteban Sun, Boyang Pollefeys, Marc Blum, Hermann |
| contents | Open-world navigation requires robots to make decisions in complex everyday environments while adapting to flexible task requirements. Conventional navigation approaches often rely on dense 3D reconstruction and hand-crafted goal metrics, which limits their generalization across tasks and environments. Recent advances in vision-language navigation (VLN) and vision-language-action (VLA) models enable end-to-end policies conditioned on natural language, but typically require interactive training, large-scale data collection, or task-specific fine-tuning with a mobile agent. We formulate navigation as a sparse subgoal identification and reaching problem and observe that providing visual anchoring targets for high-level semantic priors enables highly efficient goal-conditioned navigation. Based on this insight, we select visual frontiers as semantic anchors and propose OpenFrontier, a navigation framework that requires no task-specific training or fine-tuning and seamlessly integrates diverse vision-language prior models. OpenFrontier enables efficient navigation with a lightweight system design, without dense 3D semantic mapping, task-specific policy training, or model fine-tuning. We evaluate OpenFrontier across multiple navigation benchmarks and demonstrate strong zero-shot performance, as well as effective real-world deployment on a mobile robot. |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2603_05377 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | OpenFrontier: General Navigation with Visual-Language Grounded Frontiers Padilla-Cerdio, Esteban Sun, Boyang Pollefeys, Marc Blum, Hermann Robotics Computer Vision and Pattern Recognition Open-world navigation requires robots to make decisions in complex everyday environments while adapting to flexible task requirements. Conventional navigation approaches often rely on dense 3D reconstruction and hand-crafted goal metrics, which limits their generalization across tasks and environments. Recent advances in vision-language navigation (VLN) and vision-language-action (VLA) models enable end-to-end policies conditioned on natural language, but typically require interactive training, large-scale data collection, or task-specific fine-tuning with a mobile agent. We formulate navigation as a sparse subgoal identification and reaching problem and observe that providing visual anchoring targets for high-level semantic priors enables highly efficient goal-conditioned navigation. Based on this insight, we select visual frontiers as semantic anchors and propose OpenFrontier, a navigation framework that requires no task-specific training or fine-tuning and seamlessly integrates diverse vision-language prior models. OpenFrontier enables efficient navigation with a lightweight system design, without dense 3D semantic mapping, task-specific policy training, or model fine-tuning. We evaluate OpenFrontier across multiple navigation benchmarks and demonstrate strong zero-shot performance, as well as effective real-world deployment on a mobile robot. |
| title | OpenFrontier: General Navigation with Visual-Language Grounded Frontiers |
| topic | Robotics Computer Vision and Pattern Recognition |
| url | https://arxiv.org/abs/2603.05377 |