Agricultural robots are emerging as powerful assistants across a wide range of agricultural tasks, nevertheless, they are still heavily relying on manual operations or fixed railways for movement. The A2A benchmark and the AgriVLN method pioneeringly extended Vision-and-Language Navigation (VLN) to the agricultural domain, successfully navigating agricultural robots from starting points to target positions following natural language instructions, while we observed a limitation: In practical agricultural scenarios, users often give repetitive instructions, but AgriVLN treats every instruction as an independent episode, overlooking the potential to use past spatial memories to assist present episodes. To address this limitation, we propose the SUM module, which executes spatial understanding via 3D reconstructions and saves spatial memories via 2D representations from the past, thereby assisting the decision-maker to recall the spatial characteristics of the scenes in the present. We integrate it into the AgriVLN backbone to build the SUM-AgriVLN method. When evaluated on A2A, it effectively improves SR from 0.47 to 0.54 with only slight sacrifice on NE from 2.91 m to 2.93 m, demonstrating the state-of-the-art performance in the agricultural VLN domain. Code: https://github.com/AlexTraveling/SUM-AgriVLN.

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