Scaffolding Foundation Models into Physical-World Agents Pushes the Frontier of Long-Horizon Navigation

Long-horizon physical-world agents must reason over distant goals while grounding decisions in reliable closed-loop behavior. Today's foundation models split these capabilities: vision-language models (VLMs) infer missing information and adapt high-level plans but remain brittle and inefficient at repeated navigation grounding, while navigation foundation models (NFMs) robustly execute semantic goals but operate as bounded episodes without persistent task-level reasoning. We introduce NavMCP, an agentic scaffolding framework that couples a VLM reasoning agent with an NFM executor for long-horizon exploration. The VLM decides what evidence to seek, where to search, and when to stop, while the NFM grounds each semantic sub-goal into closed-loop navigation. Three channels structure their collaboration: intent translates evidence needs into navigation calls, observation converts rollouts into source-grounded trajectory evidence, and memory accumulates findings, negative evidence, and unresolved goals across calls. This design turns isolated navigation rollouts into persistent embodied interaction without retraining either model. On Embodied Question Answering, NavMCP achieves state-of-the-art results on HM-EQA, MT-HM3D, and EXPRESS-Bench. Under matched agent and executor backbones, it outperforms an episodic interface by 14.9 percentage points on HM-EQA. On a Unitree Go2, NavMCP reaches 78.3% success, with its margin over the strongest baseline growing from 10 to 45 points as the task horizon increases. These results demonstrate the potential of scaffolding complementary foundation models into long-horizon physical-world agents.

The Scaffolding Matters More Than the Interface: A Controlled Comparison of MCP and CLI Tool Use Across Seven Agent Scaffoldings, Five Language Models, and One Software Task

How much an AI coding agent costs to run can depend more on the agent scaffolding that drives it than on the interface through which it reaches its tools. We set out to measure the cost of tool use over the Model Context Protocol (MCP) against tool use over an ordinary command-line interface (CLI), a difference on which published estimates disagree by more than an order of magnitude while resting on practitioner reports that cannot be reproduced. We ran one fixed software task -- six operations against a private online git repository -- across seven agent scaffoldings and five language models, and we verified completion by inspecting the repository state rather than trusting the agent's self-report. The dominant effect was the scaffolding. Two of the seven ship no MCP support at all; they completed every run using only the CLI, which shows that MCP is unnecessary for this class of work, and they were 5.0x to 28x cheaper than the five scaffoldings that do support MCP, comparing CLI runs alone with no MCP server attached anywhere. The effect was largest for a small 27-billion-parameter model running locally, whose cost varied 139x across scaffoldings while it completed the task under all of them. The comparison we set out to make proved unstable: thirteen strictly paired MCP-to-CLI ratios span 0.43x to 29x, with outliers on both sides. The two interfaces separate on the cost of failure, where 12.9 per cent of the money spent on MCP runs bought no completed work against 2.2 per cent on CLI runs, but not on its frequency: failures were equally common in both, in the original runs and in their repetitions alike. Agents frequently ignored the interface they were assigned, so comparisons that do not verify actual behaviour measure an unknown mixture. The harness, the task, the verification and the complete dataset are released as open source.