Vision-language navigation (VLN) has recently advanced with large language and multimodal models, enabling agents to follow natural-language instructions in unseen environments without training a task-specific navigation policy. However, most existing VLN methods relying on large models still adopt an open-loop decision-execution approach, where candidate actions are generated from instructions and observations but are rarely verified or corrected before execution. This causes critical issues in aerial VLN, where minor errors in intermediate actions may quickly accumulate into large trajectory deviations and lead to target loss. To address this issue, we propose Closed-loop Self-verified Retrieval-augmented Reasoning (CLOSER), a training-policy-free method that sequentially performs action reasoning, reliability verification, targeted retrieval, and action correction in a closed-loop manner before executing concrete actions. We instantiate the CLOSER in aerial VLN tasks and develop a CLOSER-VLN framework, which is composed of three components: a hierarchical reasoner for generating candidate actions based on available information, a multidimensional action verifier for assessing the reliability of actions generated by the reasoner, and a verification-triggered multimodal retriever for retrieving targeted exemplars from a memory bank only when verification fails. We conduct experimental evaluations on the CityNav benchmark, where CLOSER-VLN achieves 32.01% SR and 21.28% SPL on the test-unseen split, confirming the effectiveness of closed-loop reasoning.
DreamFly: Causal Memory and Receding-Horizon Diffusion Planning for Aerial Vision-Language Navigation
School of Electronic Information Engineering, Xi’an Technological University（西安工业大学电子信息工程学院）；School of Computer Science and Engineering, Xi’an Technological University（西安工业大学计算机科学与工程学院）
Aerial Vision-Language Navigation with a Unified Framework for Spatial, Temporal and Embodied Reasoning
Key Laboratory for Information Science of Electromagnetic Waves (Ministry of Education)（电磁波信息科学重点实验室（教育部））；School of Information Science and Technology（信息科学与技术学院）；Fudan University（复旦大学）
ViSA-Enhanced Aerial VLN: A Visual-Spatial Reasoning Enhanced Framework for Aerial Vision-Language Navigation
Tianmushan Laboratory, Beihang University（北航之梦实验室，北京航空航天大学）；Hangzhou International Innovation Institute, Beihang University（杭州国际创新研究院，北京航空航天大学）；Foshan Graduate School of Innovation, Northeastern University（佛山创新研究生学院，东北大学）；School of Aeronautic Science and Engineering, Beihang University（航空科学与工程学院，北京航空航天大学）；Faculty of Robot Science and Engineering, Northeastern University（机器人科学与工程学院，东北大学）
From Semantic Grounding to Decision Optimization: A Unified Framework for Long-Horizon UAV Vision-Language Navigation
State Key Laboratory of Virtual Reality Technology and Systems, Beihang University（北京航空航天大学虚拟现实技术与系统国家重点实验室）；School of Computer Science and Engineering, Beihang University（北京航空航天大学计算机科学与工程学院）
Openfly: A comprehensive platform for aerial vision-language navigation
Shanghai AI Laboratory（上海人工智能实验室）；Northwestern Polytechnical University（西北工业大学）；Beihang University（北航）；Shanghai Jiao Tong University（上海交通大学）；The University of Hong Kong（香港大学）；Zhejiang University（浙江大学）；University of Science and Technology of China（中国科学技术大学）；East China University of Science and Technology（东华大学）；Fudan University（复旦大学）；Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所）；TeleAI
Uni-LaViRA: Language-Vision-Robot Actions Translation for Unified Embodied Navigation
Nanjing University（南京大学）；Beihang University（北京航空航天大学）；Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所）；BMW (Nanjing) Information Technology Co., Ltd.（宝马（南京）信息技术有限公司）；University of Rochester（罗切斯特大学）
Sun Yat-sen University（中山大学）；Peng Cheng Laboratory（鹏城实验室）；The Chinese University of Hong Kong（香港中文大学）；Centre for Perceptual and Interactive Intelligence（感知与交互智能中心）；Cardiff University（卡迪夫大学）；Beihang University（北航）；Guangdong Key Laboratory of Big Data Analysis and Processing（广东大数据分析与处理重点实验室）
See-and-Reach: Precise Vision-Language Navigation for UAVs within the Field of View
School of Information Science and Engineering, Shandong University（山东大学信息科学与工程学院）；Faculty of Engineering and Information Technology, University of Technology Sydney（悉尼科技大学工程与信息技术学院）；School of Computer Science and Technology, Shandong University（山东大学计算机科学与技术学院）；School of Artificial Intelligence, Shandong University（山东大学人工智能学院）；School of Computer Science and Artificial Intelligence, Shandong Normal University（山东师范大学计算机科学与人工智能学院）；Interdisciplinary Research Center of General Artificial Intelligence, Shandong Normal University（山东师范大学通用人工智能跨学科研究中心）
Towards Realistic UAV Vision-Language Navigation: Platform, Benchmark, and Methodology
Institute of Artificial Intelligence, Beihang University（北京航空航天大学人工智能学院）；MMLab, CUHK（香港中文大学MMLab）；Centre for Perceptual and Interactive Intelligence（感知与交互智能中心）
Mitigating Error Accumulation in Continuous Navigation via Memory-Augmented Kalman Filtering
Big Data Institute, Central South University, Changsha, China. Work done while working at CityUHK as a visiting scholar.；Department of Computer Science \& Institute of Digital Medicine, City University of Hong Kong, Hong Kong, China；School of Computer Science, Central South University, Changsha, China
LongFly: Long-Horizon UAV Vision-and-Language Navigation with Spatiotemporal Context Integration
School of Mechanical Engineering, Beijing Institute of Technology（北京理工大学机械工程学院）；Chongqing Innovation Center, Beijing Institute of Technology（北京理工大学重庆创新中心）；Department of Computer Science and Technology, Tsinghua University（清华大学计算机科学与技术系）；Department of Automation, Tsinghua University（清华大学自动化系）；School of Software, Dalian University of Technology（大连理工大学软件学院）；School of Artificial Intelligence, Xidian University（西安电子科技大学人工智能学院）
March in Chat: Interactive Prompting for Remote Embodied Referring Expression
Australian Institute for Machine Learning, The University of Adelaide（阿德莱德大学澳大利亚机器学习研究所）；Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所）；School of Artificial Intelligence, University of Chinese Academy of Sciences（中国科学院大学人工智能学院）
FlightGPT: Towards Generalizable and Interpretable UAV Vision-and-Language Navigation with Vision-Language Models
School of Intelligent Systems Engineering, Sun Yat-Sen University（中山大学智能系统工程学院）；DP Technology（DP技术公司）；Beijing University Of Posts and Telecommunications（北京邮电大学）；Institute of Computing Technology, Chinese Academy of Sciences（中国科学院计算技术研究所）；Tongji University（同济大学）；School of Integrated Innovation, Chulalongkorn University（朱拉隆功大学创新学院）
