arXiv:2610.30786v1 Announce Type: new Abstract: Flexible endoscopes exploit structural compliance to traverse narrow lumens, pipes, and cavities, where navigation involves distributed environmental contact. This compliance makes tip motion depend on the evolving support configuration. We present external bird's-eye-view contact-aided navigation (EBV-CAN), a vision-language policy that combines one initial global static bird's-eye image with evolving endoscopic observations and motor state. Three supervised semantic queries locate the tip, next waypoint, and instructed target on the cached global image; their residual representations predict bending and insertion commands. We introduce the Vision-Language Contact-Aided (VLCA) dataset, linking 517 demonstrations and 75k action samples to 958k spatial entries and 93k remaining-route records. On 50 held-out episodes, tip-coordinate and waypoint localization reach 97.5% and 94.8%. Swapping the target instruction under identical observations changes target attention and motor output across 17 dual-target episodes. Across 1,920 physical trials of eight policies trained under a shared protocol, EBV-CAN achieves 183/240 successes (76.25%) under automatic blue-area scoring. Gated recurrent unit behavior cloning (GRU-BC) achieves the lowest matched-task offline mean absolute error (MAE), 0.056, and 1/240 physical successes, establishing distinct rankings for action imitation and task completion. Successful multi-guide executions and representative failures connect spatial progress, steering transitions, and visibility to physical navigation.