Exploring Bottlenecks in VLM-LLM Navigation: How 3D Scene Understanding Capability Impacts Zero-Shot VLN

摘要

Zero-shot vision-and-language navigation (VLN) has gained significant attention due to its minimal data collection costs and inherent generalization. This paradigm is typically driven by the integration of pre-trained Vision-Language Models (VLMs) and Large Language Models (LLMs), where VLMs construct 3D scene graphs while LLMs handle high-level reasoning and decision-making. However, a critical bottleneck exists in this system: current 3D perception models prioritize pixel-level accuracy, directly conflicting with the strict computational limits and real-time efficiency demanded by embodied navigation. To address this gap, this paper quantifies the actual impact of 3D scene understanding capability on VLN performance. Based on typical VLM-LLM frameworks, we propose statistical success rate (SR) upper bounds for two core subsystems: 1) the slow LLM planner, which relies on topological mapping semantics, and 2) the fast reactive navigator, which utilizes spatial coordinates and bounding boxes to execute LLM decisions. Evaluations using state-of-the-art 3D scene understanding models validate our proposed bounds and reveal a perception saturation phenomenon, indicating that improvements in perception accuracy beyond a certain threshold yield diminishing returns in navigation success. Our findings suggest that 3D scene understanding for VLN should pivot away from strict pixel-level precision, prioritizing instead navigation-relevant core vocabularies and accurate bounding box proportions.