Rule-VLN injects 177 regulatory signs into Touchdown-scale urban graphs; SNRM’s VLM perception plus mental-map detours cuts constraint violations ~19% and raises task completion ~6% zero-shot.
arXiv preprint arXiv:2506.03834 (2025)
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Rule-VLN: Bridging Perception and Compliance via Semantic Reasoning and Geometric Rectification
Rule-VLN injects 177 regulatory signs into Touchdown-scale urban graphs; SNRM’s VLM perception plus mental-map detours cuts constraint violations ~19% and raises task completion ~6% zero-shot.