arxivcs.ROcs.AI2026-07-20
Learning Adaptive Safety Margins for Visual Navigation
Junyi Hu, Shuaihang Yuan, Geeta Chandra Raju Bethala, Anthony Tzes, Yi Fang
Robots in cluttered indoor spaces often fail not because they cannot generate collision-free paths, but because a fixed safety margin is mis-calibrated: conservative margins cause detours and timeouts, while permissive margins lead to near-boundary shortcuts under perception bias…