Abstract Grounding textual phrases in visual content with standalone image-sentence pairs is a challenging task. When we consider grounding in instructional videos, this problem becomes profoundly more complex: the latent temporal structure of instructional videos breaks independence assumptions and necessitates contextual understanding for resolving ambiguous visual-linguistic cues. Furthermore, dense annotations and video data scale mean supervised approaches are prohibitively costly. In this work, we propose to tackle this new task with a weakly-supervised framework for reference-aware visual grounding in instructional videos, where only the temporal alignment between the transcription and the video segment are available for supervision. We introduce the visually grounded action graph, a structured representation capturing the latent dependency between grounding and references in video. For optimization, we propose a new reference-aware multiple instance learning (RA-MIL) objective for weak supervision of grounding in videos. We evaluate our approach over unconstrained videos from YouCookII and RoboWatch, augmented with new reference-grounding test set annotations. We demonstrate that our jointly optimized, reference-aware approach simultaneously improves visual grounding, reference-resolution, and generalization to unseen instructional video categories