DyGeoVLN: Infusing Dynamic Geometry Foundation Model into Vision-Language Navigation

Vision-language Navigation (VLN) requires an agent to understand visual observations and language instructions to navigate in unseen environments. Most existing approaches rely on static scene assumptions and struggle to generalize in dynamic, real-world scenarios. To address this challenge, we propose DyGeoVLN, a dynamic geometry-aware VLN framework. Our method infuses a dynamic geometry foundation model into the VLN framework through cross-branch feature fusion to enable explicit 3D spatial representation and visual-semantic reasoning. To efficiently compress historical token information in long-horizon, dynamic navigation, we further introduce a novel pose-free and adaptive-resolution token-pruning strategy. This strategy can remove spatio-temporal redundant tokens to reduce inference cost. Extensive experiments demonstrate that our approach achieves state-of-the-art performance on multiple benchmarks and exhibits strong robustness in real-world environments.

Bridging Expectation Signals: LLM-Based Experiments and a Behavioral Kalman Filter Framework

As LLMs increasingly function as economic agents, the specific mechanisms LLMs use to update their belief with heterogeneous signals remain opaque. We design experiments and develop a Behavioral Kalman Filter framework to quantify how LLM-based agents update expectations, acting as households or firm CEOs, update expectations when presented with individual and aggregate signals. The results from experiments and model estimation reveal four consistent patterns: (1) agents' weighting of priors and signals deviates from unity; (2) both household and firm CEO agents place substantially larger weights on individual signals compared to aggregate signals; (3) we identify a significant and negative interaction between concurrent signals, implying that the presence of multiple information sources diminishes the marginal weight assigned to each individual signal; and (4) expectation formation patterns differ significantly between household and firm CEO agents. Finally, we demonstrate that LoRA fine-tuning mitigates, but does not fully eliminate, behavioral biases in LLM expectation formation.

FlowVLA: Thinking in Motion with a Visual Chain of Thought

Many Vision-Language-Action (VLA) models rely on an internal world model trained via next-frame prediction. This approach, however, struggles with physical reasoning as it entangles static appearance with dynamic motion, often resulting in implausible visual forecasts and inefficient policy learning. To address these limitations, we introduce the Visual Chain of Thought (Visual CoT): a pre-training framework that encourages a model to reason about how a scene evolves before predicting what it will look like. We instantiate this principle in FlowVLA, which predicts a future frame ($v_{t+1}$) only after generating an intermediate optical flow representation ($f_t$) that encodes motion dynamics. This ``$v_t \rightarrow f_t \rightarrow v_{t+1}$'' reasoning process is implemented within a single autoregressive Transformer, guiding the model to learn disentangled dynamics. As a result, FlowVLA produces coherent visual predictions and facilitates more efficient policy learning. Experiments on challenging robotics manipulation benchmarks demonstrate state-of-the-art performance with substantially improved sample efficiency, pointing toward a more principled foundation for world modeling. Project page: https://irpn-lab.github.io/FlowVLA/