ViLiNT improves goal-conditioned navigation success rates by 166% on average over vision-only baselines across simulations and real rover tests by combining multimodal sensing with embodiment-conditioned diffusion trajectories and clearance scoring.
Risk-guided diffusion: Toward deploying robot foundation models in space, where failure is not an option,
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Multimodal embodiment-aware navigation transformer
ViLiNT improves goal-conditioned navigation success rates by 166% on average over vision-only baselines across simulations and real rover tests by combining multimodal sensing with embodiment-conditioned diffusion trajectories and clearance scoring.