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arXiv · 2610.41446

Beyond Trial-and-Error: A Geospatial-Guided Active Reasoning Framework for Robust Aerial Vision-and-Language Navigation

Jiawei Ge·Wenkang Gong·Jiuxin Cao·Bo Liu·Lei Cui·Haoran Wang·Xuelin Zhu·Biwei Cao·Chang Liu·Chen Feng·Ioannis Patras
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Abstract

Aerial Vision-and-Language Navigation (VLN) requires UAVs to locate language-specified goals in large-scale urban environments, where objects often appear small and visually ambiguous from high-altitude viewpoints. Existing methods largely follow a reactive paradigm common in indoor VLN, repeatedly updating navigation states from local observations while underutilizing the geospatial structure that remains stable during navigation. As a result, visually similar distractors can cause a reactive goal search to repeatedly reinforce locally plausible goal hypotheses based on passively accumulated evidence, leading to unreliable localization. To address this, we propose GeoReasoner, a robust framework that shifts the paradigm of Aerial VLN from reactive trial-and-error to geospatial-guided active reasoning. Specifically, GeoReasoner first performs pre-search geospatial reasoning to derive region-level priors and constrain the goal hypothesis space. Building on these, it further conducts hypothesis-driven exploration to actively acquire discriminative evidence and refine competing goal hypotheses. Finally, consistency-aware goal verification adversarially assesses complementary evidence sources before stopping, hence reducing premature or erroneous goal confirmations. Experiments on the real-world CityNav benchmark demonstrate that GeoReasoner sets a new SOTA among zero-shot Aerial VLN methods while competing favorably with supervised approaches.

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Jiawei Ge, Wenkang Gong, Jiuxin Cao, Bo Liu, Lei Cui, Haoran Wang, Xuelin Zhu, Biwei Cao, Chang Liu, Chen Feng, Ioannis Patras. 2026-10-30. Beyond Trial-and-Error: A Geospatial-Guided Active Reasoning Framework for Robust Aerial Vision-and-Language Navigation. https://arxiv.org/abs/2610.41446

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