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This paper introduces VCN-Bench, a new benchmark designed to test whether multimodal large language models can maintain spatial reasoning across sequential navigation tasks using prior visual context. By distinguishing between destination identification errors and actual navigation failures, the study highlights significant gaps in current embodied AI agents' ability to translate static understanding into dynamic action. The findings underscore the need for improved closed-loop planning mechanisms before these systems can reliably operate in complex physical environments.
VCN-Bench: A Video-Contextualized Navigation Benchmark for Spatial Reasoning over Prior Visual Experience
arXiv:2609.34687v1 Announce Type: new Abstract: Spatial reasoning is fundamental to embodied agents, yet it remains unclear whether spatial understanding can be carried forward to guide sequential interactions. Existing spatial-reasoning benchmarks typically terminate at offline predictions, while navigation benchmarks evaluate spatial reasoning as part of instruction following and exploration. We introduce VCN-Bench, a \textbf{V}ideo-\textbf{C}ontextualized \textbf{N}avigation benchmark for probing closed-loop spatial reasoning over prior visual experience in MLLMs. Given a prior video covering both the initial location and destination, the agent is tasked with reasoning out the instruction-specified target and navigating toward it with the inferred spatial context. Built on Matterport3D, VCN-Bench contains five instruction types, 100k training episodes, and 1,250 evaluation episodes. Navigation serves as the primary evaluation, while diagnostic goal identification helps distinguish destination-resolution errors from subsequent navigation failures. We further propose MV-DualVLN, a planning-oriented baseline that jointly leverages prior video and in-episode observations. Experiments reveal limited navigation performance, a substantial destination-resolution-to-navigation gap, and frequent navigation failures even after correct destination identification.
Abstract:Spatial reasoning is fundamental to embodied agents, yet it remains unclear whether spatial understanding can be carried forward to guide sequential interactions. Existing spatial-reasoning benchmarks typically terminate at offline predictions, while navigation benchmarks evaluate spatial reasoning as part of instruction following and exploration. We introduce VCN-Bench, a \textbf{V}ideo-\textbf{C}ontextualized \textbf{N}avigation benchmark for probing closed-loop spatial reasoning over prior visual experience in MLLMs. Given a prior video covering both the initial location and destination, the agent is tasked with reasoning out the instruction-specified target and navigating toward it with the inferred spatial context. Built on Matterport3D, VCN-Bench contains five instruction types, 100k training episodes, and 1,250 evaluation episodes. Navigation serves as the primary evaluation, while diagnostic goal identification helps distinguish destination-resolution errors from subsequent navigation failures. We further propose MV-DualVLN, a planning-oriented baseline that jointly leverages prior video and in-episode observations. Experiments reveal limited navigation performance, a substantial destination-resolution-to-navigation gap, and frequent navigation failures even after correct destination identification.
Artificial Intelligence (cs.AI)
arXiv:2609.34687 [cs.AI]
(or arXiv:2609.34687v1 [cs.AI] for this version)
https://doi.org/10.48550/arXiv.2609.34687 Focus to learn more arXiv-issued DOI via DataCite (pending registration)
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