Visual Planning
Proposes a novel reasoning paradigm that replaces language-based planning with image-based reasoning. The authors argue that language is not always the optimal medium for tasks involving spatial or physical reasoning. They introduce Visual Planning, where reasoning is executed as a sequence of visual states (images) without any text mediation, allowing models to “think” directly in images. This is realized through a reinforcement learning framework called VPRL (Visual Planning via Reinforcement Learning), which trains a vision-only model (LVM-3B) to plan using images. Key contributions and findings:
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Visual-only reasoning paradigm: The authors formally define planning as autoregressive visual state generation, trained using image-only data. Unlike multimodal LLMs that map vision to language and reason textually, this approach performs inference entirely in the visual modality, sidestepping the modality gap.
VPRL framework: A two-stage training process is introduced. Stage 1 uses supervised learning on randomly sampled trajectories to ensure format consistency and promote exploration. Stage 2 applies GRPO (Group Relative Policy Optimization) to refine planning behavior via progress-based rewards, avoiding invalid or regressive moves.
Superior performance: On three visual navigation tasks (FronzeLake, Maze, and MiniBehavior), VPRL outperforms language-based models (e.g., Gemini 2.5 Pro, Qwen 2.5-VL) by over 40% in Exact Match scores. It also generalizes better to out-of-distribution tasks (larger grid sizes), with visual planners degrading more gracefully than textual ones.
Visual planning yields robustness and interpretability: Unlike textual outputs, visual plans enable step-by-step inspection and show stronger adherence to physical constraints. Qualitative examples illustrate how VPRL can avoid invalid moves and recover from non-optimal paths, while language models often hallucinate or misinterpret spatial layouts.
Exploration and invalid action reduction: The random policy initialization in Stage 1 enables better exploration than supervised baselines (VPFT), as evidenced by higher entropy and fewer invalid actions. This leads to a more effective RL stage and ultimately stronger planning capabilities.