@article{boostingzeroshotvlnviaabstractobstaclema,
  title = {Boosting Zero-Shot VLN via Abstract Obstacle Map-Based Waypoint Prediction with TopoGraph-and-VisitInfo-Aware Prompting},
  author = {Boqi Li and Siyuan Li and Weiyi Wang and Anran Li and Zhong Cao and Henry X. Liu},
  year = {2025},
  eprint = {2509.20499},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2509.20499},
}