RoboAtlas: Contextual Active SLAM
We present RoboAtlas, a contextual Active SLAM framework that adaptively balances geometric exploration and semantic reasoning using a scalable 3D semantic mapping system, OpenRoboVox. RoboAtlas integrates frontier exploration, global semantic-map reasoning, and egocentric VLM-based reasoning through a contextual multi-armed bandit that transitions from exploration to semantically guided navigation as scene understanding improves. We evaluate the system in simulation and on a Unitree Go2 robot in large-scale real-world environments exceeding 1800 m2 with approx. 30k mapped semantic instances, achieving a 100% task success rate. On the GOAT-Bench "Val Unseen" benchmark, RoboAtlas achieves ...
| Authors | Alexander Schperberg, Shivam K. Panda, Abraham P. Vinod et al. |
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| Primary category | cs.RO |
| Published | 24 June 2026 |
| Last updated at source | 15 October 2026 |
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