# Scan2Instruction and PRPT-KS: Demonstration-free adaptation for language-guided navigation from a single scan

- Source: arXiv cs.RO
- Published: 2026-10-27T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/qjndh7gh2h0zqqxg4icnqg21s
- Original: https://arxiv.org/abs/2610.33794

## Summary

The study proposes Scan2Instruction and PRPT-KS, which use a single iPhone scan to build a training environment and adapt a language-guided navigation policy without human demonstrations. Across five real environments, RealNav achieved an 85% real-robot success rate, compared with 49% for a baseline post-trained on human demonstrations; in unscanned areas of the same buildings, it still reached 82%, versus 41% for the baseline.