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LG-VLN: A Zero-Shot Vision-and-Language Navigation Framework with LangGraph State Orchestration

arXiv · AI, language, vision and robotics · article · Sep 14, 2026 · UTC

Continuous-environment vision-and-language navigation (VLN-CE) requires interpreting natural-language instructions in unseen 3D environments and executing continuous low-level actions. Existing methods often depend on LiDAR, panoramic cameras, or extra sensors; separate geometric-mapping and semantic-navigation visual representations can cause long-trajectory spatial-semantic inconsistencies. We propose LG-VLN, a monocular zero-shot framework with shared visual features and LangGraph-based state orchestration. An online feed-forward 3D reconstruction network predicts depth, camera poses, and d

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