绿行红停:面向VLA导航策略的语义分割视觉定位方法 / Green for Go, Red for No: Visual Grounding via Semantic Segmentation for VLA Navigation Policies
1️⃣ 一句话总结
本文提出一种基于实时语义分割的视觉定位方法,通过将可通行区域标绿、不可通行区域标红,在不重新训练模型的情况下,使VLA导航机器人平均路径误差降低27%-44%,尤其对长指令场景效果显著。
Vision-language-action (VLA) models enable robot navigation from natural language and visual goals, but remain susceptible to perceptual distractions and ambiguous scene interpretations. This paper presents the first empirical evaluation of visual grounding for VLA navigation policies. We propose a real-time segmentation-based grounding method that highlights traversable areas in green and non-traversable areas in red using SegFormer. Two variants are evaluated: observation-only segmentation and joint observation-goal augmentation. Using OmniVLA on the Grand Tour dataset, we show that visual grounding reduces the mean waypoint error by 27-44% at the farthest waypoint, depending on the instruction length. The benefits are greater for long instructions than for short instructions, and grounding provides little improvement for image goals. Normalized error analysis indicates that grounding primarily acts as a trajectory length regularizer, reducing the predicted path length by 30% without improving per-unit-distance reasoning. Our results indicate that visual grounding offers a simple, computationally inexpensive method to improve VLA navigation without model retraining, although it cannot compensate for missing training signals in out-of-distribution instructions.
绿行红停:面向VLA导航策略的语义分割视觉定位方法 / Green for Go, Red for No: Visual Grounding via Semantic Segmentation for VLA Navigation Policies
本文提出一种基于实时语义分割的视觉定位方法,通过将可通行区域标绿、不可通行区域标红,在不重新训练模型的情况下,使VLA导航机器人平均路径误差降低27%-44%,尤其对长指令场景效果显著。
源自 arXiv: 2607.05122