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arXiv · 2504.16516

Think Hierarchically, Act Dynamically: Hierarchical Multi-modal Fusion and Reasoning for Vision-and-Language Navigation

Junrong Yue·Yifan Zhang·Chuan Qin·Bo Li·Xiaomin Lie·Xinlei Yu·Wenxin Zhang·Zhendong Zhao
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Abstract

Vision-and-Language Navigation (VLN) aims to enable embodied agents to follow natural language instructions and reach target locations in real-world environments. While prior methods often rely on either global scene representations or object-level features, these approaches are insufficient for capturing the complex interactions across modalities required for accurate navigation. In this paper, we propose a Multi-level Fusion and Reasoning Architecture (MFRA) to enhance the agent's ability to reason over visual observations, language instructions and navigation history. Specifically, MFRA introduces a hierarchical fusion mechanism that aggregates multi-level features-ranging from low-level visual cues to high-level semantic concepts-across multiple modalities. We further design a reasoning module that leverages fused representations to infer navigation actions through instruction-guided attention and dynamic context integration. By selectively capturing and combining relevant visual, linguistic, and temporal signals, MFRA improves decision-making accuracy in complex navigation scenarios. Extensive experiments on benchmark VLN datasets including REVERIE, R2R, and SOON demonstrate that MFRA achieves superior performance compared to state-of-the-art methods, validating the effectiveness of multi-level modal fusion for embodied navigation.

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Junrong Yue, Yifan Zhang, Chuan Qin, Bo Li, Xiaomin Lie, Xinlei Yu, Wenxin Zhang, Zhendong Zhao. 2025-04-23. Think Hierarchically, Act Dynamically: Hierarchical Multi-modal Fusion and Reasoning for Vision-and-Language Navigation. https://arxiv.org/abs/2504.16516

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