arxivcs.RO2026-07-20
Distilling Global Traversability Priors for Image-based Affordance Prediction in Off-road Environments
Matthew Sivaprakasam, Samuel Triest, Micah Nye, Deegan Atha, Shehryar Khattak, David Fan, et al.
Standard methods for autonomous navigation in unstructured terrain are prone to myopic behaviors in long-horizon scenarios. The use of metric maps built from LiDAR or cameras provides necessary local geometry and semantic information but is strictly limited by depth sensing range…