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Sponsored Artificial Intelligence: A Modern Approach, Global Edition Artificial Intelligence: A Modern Approach, Global Edition

Author

Ali Salmasi

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Jul 2026

Offline Vision-Language Navigation with Geometric Goal Localization for Outdoor Environments

This paper presents the first systematic benchmark of 17 edge-deployable SLMs against 4 online APIs for robotic navigation instruction decomposition, and proposes a lightweight hybrid semantic-geometric goal localization framework that combines open-vocabulary object detection, prompted segmentation, and LiDAR geometry to estimate metric goals.

Ali Salmasi, Xian-Jia Yu, Tomi Westerlund · 0 citations

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