IVLMap Bridges the Sim-to-Real Gap in Robot Navigation

This appendix bridges the gap between simulation and real-world robotics by providing the IVLMap framework's practical implementation and validation details. In order to create the fundamental API that the LLM uses to build navigation code, it first presents a complete high-level function library (Table III) that adds instance-aware and attribute-aware searches to the capabilities of earlier maps (such as VLMap).