ExplaiNavility: Interpretable Vision-and-Language Navigation with Reasoning Supervision

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Vision-and-Language Navigation (VLN) requires embodied agents to follow natural language instructions while grounding their decisions in complex visual environments. Despite recent progress, most VLN agents remain difficult to interpret, providing limited insight into why a navigation action is selected. In this work, we introduce ExplaiNavility, an interpretable VLN framework that augments navigation with explicit reasoning supervision. Our model combines a visual scene encoder with a multimodal LLM, using structured prompts to jointly condition on the instruction, the navigation history, and the candidate viewpoints available at each step. Beyond predicting the next navigable location, the model is trained to produce human-readable explanations of its decisions and descriptive low-level action labels, such as turning left, turning right, moving forward, or stopping. To supervise these outputs, we augment R2R trajectories with speaker-style action explanations generated from consecutive observations, together with action labels obtained from the simulator. By fine-tuning the embodied multimodal agent with these auxiliary reasoning objectives, ExplaiNavility encourages more transparent decision-making while preserving strong navigation ability. Experiments on the R2R benchmark show that our approach improves over prior explainable VLN methods on unseen environments, while producing interpretable rationales that make the agent's behavior easier to inspect. These results suggest that explicit reasoning supervision can benefit both navigation performance and interpretability in embodied instruction-following agents.

• What do VLM-Based Vision-Language Navigation Models Rely on: Interpreting and Steering Policy Behavior

  arXiv (Cornell University) 2026 · 0 citations