# PlatonicNav：用柏拉图拓扑地图揭示导航中的语义对应

- 来源：HuggingFace Daily Papers（社区热门论文）
- 发布时间：2026-06-01 08:00
- AIHOT 分数：57
- AIHOT 链接：https://aihot.virxact.com/items/cmpxgncg903s1slcknghzzk62
- 原文链接：https://arxiv.org/abs/2606.01788

## AI 摘要

本研究将视觉-语言导航与物体目标导航视为同一物体中心语义流形的不同接口，并提出一个免训练的框架PlatonicNav。该框架构建柏拉图拓扑地图，融合自监督视觉编码器的几何与语义节点距离，并通过盲目匹配来定位语言目标，无需任何配对的视觉-语言数据。在HM3D-IIN、OVON及MP3D上的R2R-CE等模拟基准测试以及Unitree Go2机器人上的部署表明，PlatonicNav在无需显式跨模态训练的情况下，实现了跨任务、跨模态和跨具身的泛化能力。

## 正文

Embodied visual navigation, where an agent perceives a complex environment and acts to reach a goal from raw sensory input, underpins a wide range of applications such as household service robotics, assistive robotics, and large-scale autonomous exploration. However, recent attempts to unify vision-and-language navigation (VLN) and object goal navigation (ObjNav) remain at the level of architectural fusion, mixed-task training, and large vision-language pretraining, without examining whether independently trained vision and language encoders may already share a common semantic structure. Moreover, even object-centric topological maps still ground language goals through explicit cross-modal supervision such as CLIP or large vision-language models, leaving open whether such grounding is possible from a purely vision-built map. To address these challenges, we extend the Platonic Representation Hypothesis to embodied navigation and recast vision-only ObjNav, cross-modal ObjNav, and VLN as three different interfaces to the same object-centric semantic manifold. We further introduce PlatonicNav, a training-free framework whose Platonic Topological Map fuses geometric and semantic node distances from a self-supervised visual encoder, and grounds language goals via blind matching without any paired vision-language data. Extensive experiments on simulation benchmarks including HM3D-IIN, OVON, and R2R-CE on MP3D, together with deployment on Unitree Go2, demonstrate that PlatonicNav generalizes across tasks, modalities, and embodiments without explicit cross-modal training. Code: https://github.com/AIGeeksGroup/PlatonicNav. Website: https://aigeeksgroup.github.io/PlatonicNav.