Foresight: Iterative Reasoning About Clues that Matter for Navigation
Open-world mapless navigation from sparse language instructions requires resolving underspecified goals and inferring which environmental cues are relevant for reaching the goal. For instance, reaching an out-of-view destination may require interpreting ramps, signs, or detours that reveal where to go or which route to take. Prior works are limited by their reliance on known navigation factors and closed-set factor categories, or identify cues before motion planning and miss plan-dependent cues. We argue that pretrained Vision-Language Models (VLMs) can discover novel instruction-relevant cues, but require adaptation to focus on which cues matter and how they should influence motion plann...
| Authors | Arthur Zhang, Carl Qi, Donne Su et al. |
|---|---|
| Primary category | cs.RO |
| Published | 10 June 2026 |
| Last updated at source | 10 June 2026 |
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