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simmediumroboticsmetric · varies
FSUNav: A Cerebrum-Cerebellum Architecture for Fast, Safe, and Universal Zero-Shot Goal-Oriented Navigation
Description
Current vision-language navigation methods face substantial bottlenecks regarding heterogeneous robot compatibility, real-time performance, and navigation safety. Furthermore, they struggle to support open-vocabulary semantic generalization and multimodal task inputs. To address these challenges, this paper proposes FSUNav: a Cerebrum-Cerebellum architecture for fast, safe, and universal zero-shot goal-oriented navigation, which innovatively integrates vision-language models (VLMs) with the prop