{"paper":{"title":"ALT-Pilot: Autonomous navigation with Language augmented Topometric maps","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Krishna Murthy Jatavallabhula, Madhava Krishna, Mohammad Omama, Pranav Inani, Pranjal Paul, Sandeep Chinchali, Sarat Chandra Yellapragada","submitted_at":"2023-10-03T18:01:27Z","abstract_excerpt":"We present an autonomous navigation system that operates without assuming HD LiDAR maps of the environment. Our system, ALT-Pilot, relies only on publicly available road network information and a sparse (and noisy) set of crowdsourced language landmarks. With the help of onboard sensors and a language-augmented topometric map, ALT-Pilot autonomously pilots the vehicle to any destination on the road network. We achieve this by leveraging vision-language models pre-trained on web-scale data to identify potential landmarks in a scene, incorporating vision-language features into the recursive Baye"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2310.02324","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2310.02324/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}