{"id":"https://openalex.org/W7114792256","doi":"https://doi.org/10.48550/arxiv.2512.08186","title":"Ground Slow, Move Fast: A Dual-System Foundation Model for Generalizable Vision-and-Language Navigation","display_name":"Ground Slow, Move Fast: A Dual-System Foundation Model for Generalizable Vision-and-Language Navigation","publication_year":2025,"publication_date":"2025-12-09","ids":{"openalex":"https://openalex.org/W7114792256","doi":"https://doi.org/10.48550/arxiv.2512.08186"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2512.08186","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2512.08186","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2512.08186","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Wei, Meng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wei, Meng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Wan, Chenyang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wan, Chenyang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Peng, Jiaqi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Peng, Jiaqi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Yu, Xiqian","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yu, Xiqian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Yang, Yuqiang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Yuqiang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Feng, Delin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Feng, Delin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Cai, Wenzhe","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cai, Wenzhe","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Zhu, Chenming","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhu, Chenming","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Wang, Tai","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Tai","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Pang, Jiangmiao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pang, Jiangmiao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":null,"display_name":"Liu, Xihui","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Xihui","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9537000060081482,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9537000060081482,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.00860000029206276,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.006899999920278788,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.6575000286102295},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.3962000012397766},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.3889000117778778},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.38830000162124634},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.3458999991416931},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.34150001406669617},{"id":"https://openalex.org/keywords/patrolling","display_name":"Patrolling","score":0.33309999108314514},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.3100000023841858},{"id":"https://openalex.org/keywords/waypoint","display_name":"Waypoint","score":0.3061999976634979}],"concepts":[{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.6575000286102295},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6455000042915344},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49729999899864197},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3962000012397766},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.3889000117778778},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.38830000162124634},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35749998688697815},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.3458999991416931},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.34150001406669617},{"id":"https://openalex.org/C110698143","wikidata":"https://www.wikidata.org/wiki/Q651389","display_name":"Patrolling","level":2,"score":0.33309999108314514},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3172000050544739},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.3100000023841858},{"id":"https://openalex.org/C2781271823","wikidata":"https://www.wikidata.org/wiki/Q138081","display_name":"Waypoint","level":2,"score":0.3061999976634979},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.29989999532699585},{"id":"https://openalex.org/C138673069","wikidata":"https://www.wikidata.org/wiki/Q322229","display_name":"Tracing","level":2,"score":0.2992999851703644},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2957000136375427},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.29319998621940613},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.28839999437332153},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.2863999903202057},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.2838999927043915},{"id":"https://openalex.org/C75291252","wikidata":"https://www.wikidata.org/wiki/Q1315756","display_name":"TRACE (psycholinguistics)","level":2,"score":0.2833999991416931},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2793999910354614},{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.2759999930858612},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.2703999876976013},{"id":"https://openalex.org/C2780966255","wikidata":"https://www.wikidata.org/wiki/Q5474306","display_name":"Foundation (evidence)","level":2,"score":0.26420000195503235},{"id":"https://openalex.org/C50897621","wikidata":"https://www.wikidata.org/wiki/Q2665508","display_name":"Hybrid system","level":2,"score":0.25679999589920044},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.2522999942302704},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2506999969482422}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2512.08186","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2512.08186","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2512.08186","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2512.08186","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"score":0.5628173351287842,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"While":[0],"recent":[1],"large":[2],"vision-language":[3,10,22],"models":[4],"(VLMs)":[5],"have":[6],"improved":[7],"generalization":[8],"in":[9,121,160],"navigation":[11],"(VLN),":[12],"existing":[13],"methods":[14,145],"typically":[15],"rely":[16],"on":[17],"end-to-end":[18],"pipelines":[19],"that":[20,56],"map":[21],"inputs":[23],"directly":[24],"to":[25,104],"short-horizon":[26],"discrete":[27],"actions.":[28],"Such":[29],"designs":[30],"often":[31],"produce":[32],"fragmented":[33],"motions,":[34],"incur":[35],"high":[36],"latency,":[37],"and":[38,98,107,117,138,150,157],"struggle":[39],"with":[40,61],"real-world":[41,151],"challenges":[42],"like":[43],"dynamic":[44,123,161],"obstacle":[45],"avoidance.":[46],"We":[47],"propose":[48],"DualVLN,":[49],"the":[50,128],"first":[51],"dual-system":[52,111],"VLN":[53,148],"foundation":[54],"model":[55],"synergistically":[57],"integrates":[58],"high-level":[59],"reasoning":[60],"low-level":[62],"action":[63],"execution.":[64],"System":[65,81,102,134],"2,":[66],"a":[67,83],"VLM-based":[68],"global":[69],"planner,":[70],"\"grounds":[71],"slowly\"":[72],"by":[73,92],"predicting":[74],"mid-term":[75],"waypoint":[76],"goals":[77,97],"via":[78],"image-grounded":[79],"reasoning.":[80],"1,":[82],"lightweight,":[84],"multi-modal":[85],"conditioning":[86],"Diffusion":[87],"Transformer":[88],"policy,":[89],"\"moves":[90],"fast\"":[91],"leveraging":[93],"both":[94],"explicit":[95],"pixel":[96],"latent":[99],"features":[100],"from":[101],"2":[103],"generate":[105],"smooth":[106],"accurate":[108],"trajectories.":[109],"The":[110],"design":[112],"enables":[113],"robust":[114,154],"real-time":[115,158],"control":[116],"adaptive":[118],"local":[119,140],"decision-making":[120],"complex,":[122],"environments.":[124,162],"By":[125],"decoupling":[126],"training,":[127],"VLM":[129],"retains":[130],"its":[131],"generalization,":[132],"while":[133],"1":[135],"achieves":[136],"interpretable":[137],"effective":[139],"navigation.":[141],"DualVLN":[142],"outperforms":[143],"prior":[144],"across":[146],"all":[147],"benchmarks":[149],"experiments":[152],"demonstrate":[153],"long-horizon":[155],"planning":[156],"adaptability":[159]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2025-12-11T00:00:00"}