Existing vision-language planning methods perform well on short-horizon tasks but struggle with long-horizon reasoning in dynamic environments due to the difficulty of training models to generate high-quality reasoning processes. To address this, we propose Structured Preference Optimization (SPO), a framework that enhances reasoning and action selection for long-horizon task planning through structured evaluation and optimized training. SPO introduces: 1) Structured Preference Evaluation and Optimization, which evaluates reasoning chains across task relevance, historical consistency (as part of textual coherence), and image awareness (alignment with visual observations) to construct high-quality preference pairs; and 2) Curriculum-Guided Progressive Learning, enabling the model to adapt from simple to complex tasks, thereby improving generalization and robustness. To advance research in vision-language long-horizon task planning, we introduce ExtendaBench, a comprehensive benchmark covering 1,509 tasks across VirtualHome and Habitat 2.0, categorized into ultra-short, short, medium, and long tasks. Experimental results demonstrate that SPO significantly improves reasoning quality and final decision accuracy, outperforming prior methods on long-horizon tasks and underscoring the effectiveness of preference-driven optimization in vision-language task planning. Specifically, SPO achieves a +5.98% GCR and +4.68% SR improvement in VirtualHome and a +3.30% GCR and +2.11% SR improvement in Habitat over the best-performing baselines.

Embodied agents equipped with GPT as their brain have exhibited extraordinary decision-making and generalization abilities across various tasks. However, existing zero-shot agents for vision-and-language navigation (VLN) only prompt the GPT-4 to select potential locations within localized environments, without constructing an effective “global-view” for the agent to understand the overall environment. In this work, we present a novel **map**-guided **GPT**-based agent, dubbed **MapGPT**, which introduces an online linguistic-formed map to encourage the global exploration. Specifically, we build an online map and incorporate it into the prompts that include node information and topological relationships, to help GPT understand the spatial environment. Benefiting from this design, we further propose an adaptive planning mechanism to assist the agent in performing multi-step path planning based on a map, systematically exploring multiple candidate nodes or sub-goals step by step. Extensive experiments demonstrate that our MapGPT is applicable to both GPT-4 and GPT-4V, achieving state-of-the-art zero-shot performance on the R2R and REVERIE simultaneously (~10% and ~12% improvements in SR), and showcasing the newly emergent global thinking and path planning abilities of the GPT.

Conventional visual relationship detection models only use the numeric ids of relation labels for training, but ignore the semantic correlation between the labels, which leads to severe training biases and harms the generalization ability of representations. In this paper, we introduce compact language information of relation labels for regularizing the representation learning of visual relations. Specifically, we propose a simple yet effective visual Relationship prediction framework that transfers natural language knowledge learned from Contrastive Language-Image Pre-training (CLIP) models to enhance the relationship prediction, termed RelCLIP. Benefiting from the powerful visual-semantic alignment ability of CLIP at image level, we introduce a novel Relational Contrastive Learning (RCL) approach which explores relation-level visual-semantic alignment via learning to match cross-modal relational embeddings. By collaboratively learning the semantic coherence and discrepancy from relation triplets, the model can generate more discriminative and robust representations. Experimental results on the Visual Genome dataset show that RelCLIP achieves significant improvements over strong baselines under full (provide accurate labels) and distant supervision (provide noise labels), demonstrating its powerful generalization ability in learning relationship representations. Code will be available at https://gitee.com/mindspore/models/tree/master/research/cv/RelCLIP.