If, Then, Otherwise: Diagnosing Conditional Branching in Vision-Language Navigation

Seoyoung Lee; Neel P. Bhatt; Pranay Samineni; Cong Liu; S P Sharan; Timothy Barclay; Gregory M. Wagner; Daniel Milan; Sandeep Chinchali; Ufuk Topcu; Atlas Wang

arXiv · 2608.17318

If, Then, Otherwise: Diagnosing Conditional Branching in Vision-Language Navigation

Seoyoung Lee·Neel P. Bhatt·Pranay Samineni·Cong Liu·S P Sharan·Timothy Barclay·Gregory M. Wagner·Daniel Milan·Sandeep Chinchali·Ufuk Topcu·Atlas Wang

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Abstract

Vision-language navigation agents are often evaluated on their ability to follow route-like instructions toward a fixed goal. Yet, real navigation instructions often depend on observed states of the environment: if a condition holds, then follow one path, otherwise take another. Such instructions require an agent to evaluate scene evidence, select the correct logical branch, and execute the corresponding navigation behavior. Existing evaluations provide limited control over conditional branch execution, making it difficult to determine whether agents fail because of perception, grounding, navigation, or logical decision-making. We introduce CondVLN, a scene-graph-grounded benchmark for diagnosing conditional branching in vision-language navigation. CondVLN programmatically generates instructions whose branch conditions are grounded in verifiable 3D scene-graph predicates, with controlled variation in branch depth, dependency chain length, spatial composition, evidence observability, and instruction horizon. CondVLN contains over 11,500 generated conditional instructions across AI2-THOR, Matterport3D, Gibson, and ReplicaCAD, and evaluates agents using standard VLN metrics and branch-specific diagnostics: Branch Selection Accuracy and Conditional Success Rate. Evaluating four state-of-the-art VLN agents (VLN-Zero, NaVid, NaVILA, and Open-Nav) shows that conditional branching exposes failures that are not captured by standard success rate or path length alone: agents can navigate plausibly while committing to a branch inconsistent with the observed scene condition. We also present a lightweight neurosymbolic branch-selection model that separates condition grounding from navigation execution, improving performance by 2x. CondVLN provides a reusable testbed for measuring whether embodied agents can not only follow instructions, but follow the right instruction under the right condition.

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Seoyoung Lee, Neel P. Bhatt, Pranay Samineni, Cong Liu, S P Sharan, Timothy Barclay, Gregory M. Wagner, Daniel Milan, Sandeep Chinchali, Ufuk Topcu, Atlas Wang. 2026-08-18. If, Then, Otherwise: Diagnosing Conditional Branching in Vision-Language Navigation. https://arxiv.org/abs/2608.17318

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