信頼性を考慮したスパース経路記憶による往復視覚言語ナビゲーション
Reliability-Aware Sparse Route Memory for Round-Trip Vision-Language Navigation
往復視覚言語ナビゲーションにおいて、行きの経路を幾何アンカーとして記録し、信頼性に基づいて逆順に参照することで帰還を実現する手法を提案し、シミュレーションで有効性を示した。
著者: Bojun Long, Lingfan Bao, Tianhu Peng, Jingcheng Sun, Chengxu Zhou
分類: cs.RO
原文アブストラクト
Vision-language navigation (VLN) is typically evaluated as a one-way task, although deployed robots may need to return after reaching a goal. We study continuous round-trip VLN and diagnose failures in directional observability, deviation recovery, and termination stability. We propose a reliability-aware sparse route memory that records the executed Outbound trajectory as ordered geometric anchors and queries them in reverse through a structured hint, action-level arbitration, and terminal verification. On 50 reverse-paired episodes using NaVILA and a simulated Unitree Go2, language-only Return succeeds in 22.0% of episodes, while our online system reaches 55.1%. With exact route information, the same interfaces achieve 86.0%, showing that effective Return requires both accurate information and consistent action on that information. The remaining online gap arises mainly from geometric evidence that is too unreliable to authorise intervention. These results distinguish information quality, behavioural consistency, and online reliability as separate limits in long-horizon navigation.