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--> [Submitted on 1 Aug 2026] Title:SC$^{2}$-WM: A Self-Correcting World Model with Closed-Loop Feedback for Vision-and-Language Navigation in Continuous Environments View a PDF of the paper titled SC$^{2}$-WM: A Self-Correcting World Model with Closed-Loop Feedback for Vision-and-Language Navigation in Continuous Environments, by Xuan Yao and 4 other authors View PDF HTML (experimental) Abstract:Vision-and-Language Navigation in Continuous Environments (VLN-CE) requires agents to make fine-grained navigation decisions under partial observability. However, most existing methods rely on open-loop execution, lacking mechanisms to detect and correct internal state drift during inference. We propose SC$^{2}$-WM, a self-correcting world model framework that introduces internal feedback for closed-loop decision making in VLN-CE. Our method derives feedback from world-model foresight to perform state-level plan refinement before action execution. To handle challenging scenarios, we further introduce conditional world-aware adaptation, which enables model-level correction by selectively updating the world model at test time when feedback indicates model capacity insufficiency. Experiments on standard VLN-CE benchmarks demonstrate improved navigation robustness and generalization. Our code is available at this https URL. Comments: Accepted by ICML 2026 Subjects: Robotics (cs.RO); Computer Vision and Pattern Recognition (cs.CV) Cite as: arXiv:2608.07548 [cs.RO] (or arXiv:2608.07548v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2608.07548 arXiv-issued DOI via DataCite Submission history From: Xuan Yao [view email] [v1] Sat, 1 Aug 2026 03:17:48 UTC (1,215 KB) Full-text links: Access Paper: View a PDF of the paper titled SC$^{2}$-WM: A Self-Correcting World Model with Closed-Loop Feedback for Vision-and-Language Navigation in Continuous Environments, by Xuan Yao and 4 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-08 Change to browse by: cs cs.CV References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)