arxivcs.RO2026-07-18
G2-Nav: Grounded and Guarded Vision-Language Costmaps for Robot Social Navigation
Yuwen Liao, Yihang Lan, Yizhuo Yang, Ruimeng Liu, Xinhang Xu, Shenghai Yuan, et al.
Social navigation requires the robot to reason and respond in complex real-world environments. While recent works attempt to incorporate human-level intelligence into robot planning using large Vision-Language Models (VLMs), end-to-end frameworks often create an unpredictable bla…