---
base_model:
- Qwen/Qwen3-VL-8B-Instruct
---


# LookStep 

[简体中文](README_ZH.md)

## Model details


| Field                | Value                                                                      |
| -------------------- | -------------------------------------------------------------------------- |
| Base model           | `Qwen/Qwen3-VL-8B-Instruct`                                                |
| Architecture         | `Qwen3VLForConditionalGeneration`                                          |
| Model type           | `qwen3_vl`                                                                 |
| Parameters           | 8,767,123,696                                                              |
| Checkpoint format    | safetensors, 4 shards, 750 tensors                                         |
| Indexed tensor bytes | 17,534,247,392 bytes                                                       |
| Fine-tuning method   | Full-parameter SFT (`tuner_type=full`)                                     |
| Final optimizer step | 18,888                                                                     |
| Training epoch       | 1.0                                                                        |
| Training precision   | BF16                                                                       |
| Training max length  | 8,192 tokens                                                               |
| Input modality       | Navigation instruction plus front-facing RGB observations                  |
| Output               | Structured LookStep state, candidate outcomes, memory decision, and action |


The online policy receives the instruction, up to six long-term event-memory
frames, up to two recent frames, and the current RGB frame. It generates:

```xml
<progress>...</progress>
<event>...</event>
<memory_write>keep|drop</memory_write>
<memory_role>...</memory_role>
<outcomes>
  <move_forward>...</move_forward>
  <turn_left>...</turn_left>
  <turn_right>...</turn_right>
  <stop>...</stop>
</outcomes>
<action>MOVE_FORWARD|TURN_LEFT|TURN_RIGHT|STOP</action>
```

Use this checkpoint with the LookStep simulation code to reproduce the paper's
R2R-CE and RxR-CE Val-Unseen main results. It is intended for research in
embodied vision-language navigation under the published Habitat configuration.

It is not a general-purpose chatbot, a standalone image captioner, a safety  
controller, or a validated controller for physical robots. 

## Training procedure


| Hyperparameter              | Value                 |
| --------------------------- | --------------------- |
| GPUs                        | 8 × NVIDIA A100 80 GB |
| Epochs                      | 1                     |
| Per-device train batch size | 2                     |
| Gradient accumulation       | 8                     |
| Global batch size           | 128                   |
| Optimizer steps             | 18,888                |
| Optimizer                   | `adamw_torch_fused`   |
| Learning rate               | `2e-5`                |
| Scheduler                   | cosine                |
| Warmup ratio                | 0.03                  |
| Weight decay                | 0.01                  |
| Adam betas / epsilon        | 0.9, 0.95 / `1e-8`    |
| Max gradient norm           | 1.0                   |
| Distributed training        | DeepSpeed ZeRO-2      |
| Vision encoder              | frozen                |
| Visual aligner              | frozen                |
| LLM                         | trainable             |
| Model/data seeds            | 42 / 42               |


## Reproduce with LookStep

Create the pinned environment and validate the downloaded model first:

```bash
conda env create -f LookStep/simulation/environment.yml
conda activate lookstep-simulation

MODEL_PATH=/path/to/downloaded/checkpoint-18888 \
PROCESSOR_PATH=/path/to/Qwen3-VL-8B-Instruct \
DATA_ROOT=/path/to/data \
bash LookStep/reproduce_paper.sh check-sim
```

Run a two-episode smoke test, followed by both complete main benchmarks:

```bash
MODEL_PATH=/path/to/downloaded/checkpoint-18888 \
PROCESSOR_PATH=/path/to/Qwen3-VL-8B-Instruct \
DATA_ROOT=/path/to/data \
bash LookStep/reproduce_paper.sh smoke-r2r

MODEL_PATH=/path/to/downloaded/checkpoint-18888 \
PROCESSOR_PATH=/path/to/Qwen3-VL-8B-Instruct \
DATA_ROOT=/path/to/data \
CUDA_VISIBLE_DEVICES=0,1,2,3,4,5,6,7 \
bash LookStep/reproduce_paper.sh eval-all

bash LookStep/reproduce_paper.sh verify
```

## Citation

```
@inproceedings{
lookstep,
title={LookStep: Efficient Vision-Language Navigation with Linguistic Foresight and Event Driven Memory},
author={Kun-Yang Yu, Yingzhe Li, Hongyu Xu, Shi-Yu Tian, Zhi Zhou, Yang Chen, Ming Yang, Sheng Wang, Qing Yu, Lan-Zhe Guo, Yu-Feng Li},
booktitle={The 2026 Conference on Empirical Methods in Natural Language Processing},
year={2026}
}
```

If you have any question, please email to [yuky@lamda.nju.edu.cn](mailto:yuky@lamda.nju.edu.cn) (Kun-Yang Yu)