BIT-Nav: Brain-Inspired Trajectory Memory for Embodied Navigation

• URL: http://arxiv.org/abs/2606.21398v1
• Date: Fri, 19 Jun 2026 13:06:02 GMT
• Title: BIT-Nav: Brain-Inspired Trajectory Memory for Embodied Navigation
• Abstract summary: We introduce BIT-Nav (Brain-Inspired Trajectory Memory for Navigation), a framework that augments frozen VLM navigation pipelines with a compact learned trajectory memory.<n> BIT-Nav trains a Bi-GRU encoder over action and relative pose sequences via a multi-positive InfoNCE contrastive objective on trajectory sharing the same behavioral intent.<n>The resulting embedding is projected into the VLM token space via a lightweight prefixes and injected as a single memory token at each decision step.
• Score: 0.11744028458220425
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: Vision-Language Models (VLMs) for embodied navigation rely on selecting a fixed number of frames from a growing trajectory history. As episodes extend, this selection grows increasingly sparse, yet prior work shows no accuracy gain when scaling from 8 to 64 frames, suggesting the bottleneck is not frame quantity but the representation itself. Sparse frame selection cannot capture the structured behavioral signal that long-horizon reasoning requires: turning patterns, cumulative displacement, and path topology. We introduce BIT-Nav (Brain-Inspired Trajectory Memory for Navigation), a framework that augments frozen VLM navigation pipelines with a compact learned trajectory memory. Motivated by hippocampal path integration, where spatial experience is compressed into structured episodic traces rather than stored as raw sensory replay, BIT-Nav trains a Bi-GRU encoder over action and relative pose sequences via a multi-positive InfoNCE contrastive objective on trajectory prefixes sharing the same behavioral intent. The resulting embedding is projected into the VLM token space via a lightweight MLP and injected as a single memory token at each decision step, conditioning the model on structured motion history at constant token cost regardless of episode length

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