# 说导航器的语言：面向冻结空中 VLN 智能体的轨迹扎根指令翻译

> 原文链接：https://robotics.hellobike.com/papers/2026-10-07-2610-10635
> 频道：papers | 更新日期：2026-10-07 | 标签：arxiv, cs.RO
> 核心摘要：针对空中VLN用户短指令与训练命令不匹配，TGIT从轨迹结果学习翻译，并在OpenFly、人类指令及CityNav/AirVLN上验证。

# 说导航器的语言：面向冻结空中 VLN 智能体的轨迹扎根指令翻译

::: v-pre
> 原文链接：[Speaking the Navigator's Language: Trajectory-Grounded Instruction Translation for Frozen Aerial VLN Agents](https://arxiv.org/abs/2610.10635)（arXiv 2610.10635 · 发布日期：2026-10-07）

**Speaking the Navigator's Language: Trajectory-Grounded Instruction Translation for Frozen Aerial VLN Agents**

针对空中VLN用户短指令与训练命令不匹配，TGIT从轨迹结果学习翻译，并在OpenFly、人类指令及CityNav/AirVLN上验证。

## 核心要点

- 空中VLN常用细节丰富且轨迹对齐的命令训练，但用户多给出短而意图驱动的指令。
- 作者用人写风格示例提示语言模型，将原始命令转成成对的意图中心Weak命令以扩展训练。
- TGIT作为前端保持导航器冻结，依据其轨迹结果学习把Weak输入翻译为可执行命令。
- Weak训练翻译器提升Weak输入成功率，并零样本迁移到真实人类指令及其他环境。

**验证范围与局限**：摘要未说明仿真或真机及机器数量；验证范围包括OpenFly、真实人类指令、留出OpenFly、CityNav和AirVLN。

## 英文摘要 (Abstract)

Aerial vision-and-language navigation (VLN) agents are typically trained on detail-rich, trajectory-aligned commands, whereas users issue short, intent-driven instructions; on a frozen OpenFly navigator, this \emph{instruction gap} drops success rate (SR) from $31.03\%$ to $11.33\%$. To scale translator training, we prompt a language model with human-written style examples to convert original commands into paired, intent-centered Weak commands, which yield $15.27\%$ SR. We introduce the \textbf{Trajectory-Grounded Instruction Translator (TGIT)}, a front-end that keeps the navigator frozen and translates Weak inputs into agent-executable commands by learning from its trajectory outcomes. The resulting Weak-trained translator raises Weak-input SR to $37.93\%$ and transfers zero-shot to real human instructions ($11.33\%{\rightarrow}32.51\%$); it also improves held-out OpenFly ($4.95\%{\rightarrow}20.79\%$) and yields recovery on CityNav and AirVLN.

作者：Xi Chen, Zhe Liu, Xiaogang Xu, Jiafei Xu, Chunyi Zhou, Yuan Su, Rui Zeng, Tianyu Du, Kelu Yao, Chao Li
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## 原始参考来源 (Sources)

- [arXiv 2610.10635：Speaking the Navigator's Language: Trajectory-Grounded Instruction Translation for Frozen Aerial VLN Agents](https://arxiv.org/abs/2610.10635)