GroundingVLN: Reasoning and Acting with Grounding for Vision-Language Navigation

arXiv:2609.18581v1 Announce Type: new Abstract: Although vision-language models (VLMs) possess strong visual understanding and reasoning capabilities, existing vision-and-language navigation (VLN) agents struggle to connect semantic reasoning with spatial execution. Two coupled gaps remain in this connection, as intermediate reasoning is not explicitly anchored to visual evidence and high-level decisions lack precise spatial goals to guide low-level motion. Cognitive science suggests that human navigation bridges these levels hierarchically by anchoring cognition to relevant landmarks and guiding locomotion toward spatial goals. Motivated by this principle, we propose GroundingVLN, which uses visual grounding as a shared interface between reasoning and action. GroundingVLN first reasons with grounding by anchoring task-relevant visual evidence to precise image locations throughout structured reasoning. It then acts through grounding by predicting a progress-aligned pixel goal that a geometric planner translates into primitive actions. To learn these capabilities, we construct GroundingCOTVLN-188K, a dataset of temporally aligned grounded reasoning traces, and introduce Grounded and Execution-Aware Reinforcement Learning (GEAR), which aligns grounded reasoning and spatial decisions with downstream execution. Experiments demonstrate that GroundingVLN achieves state-of-the-art performance (69.9% SR on R2R-CE and 75.1% SR on RxR-CE) with high sample efficiency, using just 0.9% as much training data as the strongest baseline. It also generalizes strongly across datasets, attaining 59.9% SR on RxR-CE when trained solely on R2R, a gain of 20.1% over the strongest baseline.

Abstract:Although vision-language models (VLMs) possess strong visual understanding and reasoning capabilities, existing vision-and-language navigation (VLN) agents struggle to connect semantic reasoning with spatial execution. Two coupled gaps remain in this connection, as intermediate reasoning is not explicitly anchored to visual evidence and high-level decisions lack precise spatial goals to guide low-level motion. Cognitive science suggests that human navigation bridges these levels hierarchically by anchoring cognition to relevant landmarks and guiding locomotion toward spatial goals. Motivated by this principle, we propose GroundingVLN, which uses visual grounding as a shared interface between reasoning and action. GroundingVLN first reasons with grounding by anchoring task-relevant visual evidence to precise image locations throughout structured reasoning. It then acts through grounding by predicting a progress-aligned pixel goal that a geometric planner translates into primitive actions. To learn these capabilities, we construct GroundingCOTVLN-188K, a dataset of temporally aligned grounded reasoning traces, and introduce Grounded and Execution-Aware Reinforcement Learning (GEAR), which aligns grounded reasoning and spatial decisions with downstream execution. Experiments demonstrate that GroundingVLN achieves state-of-the-art performance (69.9% SR on R2R-CE and 75.1% SR on RxR-CE) with high sample efficiency, using just 0.9% as much training data as the strongest baseline. It also generalizes strongly across datasets, attaining 59.9% SR on RxR-CE when trained solely on R2R, a gain of 20.1% over the strongest baseline.

Robotics (cs.RO)

arXiv:2609.18581 [cs.RO]

(or arXiv:2609.18581v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2609.18581 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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GroundingVLN: Reasoning and Acting with Grounding for Vision-Language Navigation

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