@article{hcsghumancentricsemanticgeometricreasoni,
  title = {HCSG: Human-Centric Semantic-Geometric Reasoning for Vision-Language Navigation},
  author = {Haoxuan Xu and Tianfu Li and Wenbo Chen and Yi Liu and Jin Wu and Huashuo Lei and Yunfan Lou and Lujia Wang and Hesheng Wang and Haoang Li},
  year = {2026},
  eprint = {2605.13321},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2605.13321},
}