Enregistré dans:
| Auteurs principaux: | , , , , , |
|---|---|
| Format: | Preprint |
| Publié: |
2026
|
| Sujets: | |
| Accès en ligne: | https://arxiv.org/abs/2605.31121 |
| Tags: |
Ajouter un tag
Pas de tags, Soyez le premier à ajouter un tag!
|
| _version_ | 1866918531419865088 |
|---|---|
| author | Zeng, Tianle Ye, Hanjing Peng, Jianwei Yu, Jingwen Chen, Hanxuan Zhang, Hong |
| author_facet | Zeng, Tianle Ye, Hanjing Peng, Jianwei Yu, Jingwen Chen, Hanxuan Zhang, Hong |
| contents | Outdoor vision-language navigation (VLN) in long-range, open-world environments is frequently disrupted by semantic-cue interruptions, where informative goal cues become sparse, occluded, or leave the field of view. Once such cues disappear, agents enter a cue-free phase and often degrade into backtracking, oscillatory headings, or aimless exploration. While memory-based methods attempt to bridge these gaps, they often fail under traversability-driven detours: the remembered cue direction may be infeasible, forcing detours that prolong cue-free phases and gradually render robot-centric cues stale and implicit histories blurred. This makes traversability a stability condition for maintaining goal-directed guidance, rather than merely a local safety concern.
We propose a unified outdoor VLN framework that survives semantic-cue interruptions by maintaining traversability-consistent executable guidance throughout prolonged cue-free phases. Specifically, our method extracts semantic bearings from visibility-gated goal or exploration cues and grounds them into executable headings using a real-time near-field traversability profile, providing goal-consistent feasible guidance beyond reject-only safety filtering. To prevent guidance degradation during detours, we lift intermittent 2D evidence into a world-aligned 3D cue memory with an uncertainty-aware readout mechanism, ensuring guidance remains continuously reachable and stable as the robot moves.
We evaluate the framework on quadrupedal and wheeled platforms over 600--1000 m routes. Our method improves simulation success rate by over 10 percentage points over the strongest baseline and achieves a real-world success rate of 40%, compared to 17.5% for the strongest baseline, with substantially higher robustness during prolonged cue-free intervals. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2605_31121 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | TARIC: Memory-Augmented Traversability-Aware Outdoor VLN under Interrupted Semantic Cues Zeng, Tianle Ye, Hanjing Peng, Jianwei Yu, Jingwen Chen, Hanxuan Zhang, Hong Robotics Artificial Intelligence Outdoor vision-language navigation (VLN) in long-range, open-world environments is frequently disrupted by semantic-cue interruptions, where informative goal cues become sparse, occluded, or leave the field of view. Once such cues disappear, agents enter a cue-free phase and often degrade into backtracking, oscillatory headings, or aimless exploration. While memory-based methods attempt to bridge these gaps, they often fail under traversability-driven detours: the remembered cue direction may be infeasible, forcing detours that prolong cue-free phases and gradually render robot-centric cues stale and implicit histories blurred. This makes traversability a stability condition for maintaining goal-directed guidance, rather than merely a local safety concern. We propose a unified outdoor VLN framework that survives semantic-cue interruptions by maintaining traversability-consistent executable guidance throughout prolonged cue-free phases. Specifically, our method extracts semantic bearings from visibility-gated goal or exploration cues and grounds them into executable headings using a real-time near-field traversability profile, providing goal-consistent feasible guidance beyond reject-only safety filtering. To prevent guidance degradation during detours, we lift intermittent 2D evidence into a world-aligned 3D cue memory with an uncertainty-aware readout mechanism, ensuring guidance remains continuously reachable and stable as the robot moves. We evaluate the framework on quadrupedal and wheeled platforms over 600--1000 m routes. Our method improves simulation success rate by over 10 percentage points over the strongest baseline and achieves a real-world success rate of 40%, compared to 17.5% for the strongest baseline, with substantially higher robustness during prolonged cue-free intervals. |
| title | TARIC: Memory-Augmented Traversability-Aware Outdoor VLN under Interrupted Semantic Cues |
| topic | Robotics Artificial Intelligence |
| url | https://arxiv.org/abs/2605.31121 |