Abstract
Aerial Vision-and-Language Navigation requires drones to follow natural-language instructions and navigate through complex urban environments. Accurate navigation relies on both local and global spatial information, which support immediate action grounding and long-horizon path planning, respectively. However, existing zero-shot methods typically operate at a single spatial scale, relying either on local representations constructed online from current observations or on global memories built offline from historical experience. To address this limitation, we propose AirAnchor, a new paradigm that bridges local and global spatial information through spatial anchors and integrates both into a shared navigation framework, enabling comprehensive spatial grounding for decision-making. AirAnchor consists of three core components: (1) Query-Driven Spatial Anchor Grounding, which identifies decision-relevant anchors from visual observations and organizes them into local spatial representations; (2) Persistent Object Spatial Memory, which incrementally maintains an object knowledge base as persistent global spatial memory and retrieves landmark-related spatial priors; and (3) a Spatially-Informed Navigation Agent, which explicitly integrates both local and global spatial information into an agentic framework for decision-making. Extensive experiments on AerialVLN demonstrate that AirAnchor substantially outperforms existing zero-shot baselines, validating the effectiveness and efficiency of the proposed paradigm.
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URL
https://arxiv.org/abs/2609.08442
