[2510.08553] Dream to Recall: Imagination-Guided Experience Retrieval for Memory-Persistent Vision-and-Language Navigation

Computer Science > Computer Vision and Pattern Recognition arXiv:2510.08553 (cs) [Submitted on 9 Oct 2025 (v1), last revised 30 Mar 2026 (this version, v2)] Title:Dream to Recall: Imagination-Guided Experience Retrieval for Memory-Persistent Vision-and-Language Navigation Authors:Yunzhe Xu, Yiyuan Pan, Zhe Liu View a PDF of the paper titled Dream to Recall: Imagination-Guided Experience Retrieval for Memory-Persistent Vision-and-Language Navigation, by Yunzhe Xu and 2 other authors View PDF HTML (experimental) Abstract:Vision-and-Language Navigation (VLN) requires agents to follow natural language instructions through environments, with memory-persistent variants demanding progressive improvement through accumulated experience. Existing approaches for memory-persistent VLN face critical limitations: they lack effective memory access mechanisms, instead relying on entire memory incorporation or fixed-horizon lookup, and predominantly store only environmental observations while neglecting navigation behavioral patterns that encode valuable decision-making strategies. We present Memoir, which employs imagination as a retrieval mechanism grounded by explicit memory: a world model imagines future navigation states as queries to selectively retrieve relevant environmental observations and behavioral histories. The approach comprises: 1) a language-conditioned world model that imagines future states serving dual purposes: encoding experiences for storage and generating retrieval ...