@article{beaconlanguageconditionednavigationaffor,
  title = {BEACON: Language-Conditioned Navigation Affordance Prediction under Occlusion},
  author = {Xinyu Gao and Gang Chen and Javier Alonso-Mora},
  year = {2026},
  eprint = {2603.09961},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2603.09961},
}