G2-Nav: 接地され保護された視覚言語コストマップによるロボットの社会的ナビゲーション
G2-Nav: Grounded and Guarded Vision-Language Costmaps for Robot Social Navigation
大規模視覚言語モデル(VLM)の社会的推論をコストマップに変換し、安全性チェックを加えることで、実世界での自律社会的ナビゲーションを実現するフレームワークを提案した。
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著者: Yuwen Liao, Yihang Lan, Yizhuo Yang, Ruimeng Liu, Xinhang Xu, Shenghai Yuan, Lihua Xie
分類: cs.RO
原文アブストラクト
Social navigation requires the robot to reason and respond in complex real-world environments. While recent works attempt to incorporate human-level intelligence into robot planning using large Vision-Language Models (VLMs), end-to-end frameworks often create an unpredictable black-box, and existing instruction-following methods are not designed for full autonomy. To bridge this gap, we present G2-Nav, a novel framework that grounds abstract social reasoning and guards safe real-world deployment. Instead of asking the VLM for direct planning decisions, G2-Nav translates its semantic reasoning into a vision-language costmap with reliability and interpretability. The VLM evaluates traversable regions and social agents from open-set perception, mapping social context into the costmap. To improve real-world robustness, the VLM performs semantic verification on upstream tracking, and we introduce a high-frequency safety check to guard against system latency prior to trajectory generation. We demonstrate through real-world experiments that G2-Nav delivers safe, efficient, and socially compliant autonomous navigation in unstructured environments. Code will be made publicly available.
