HCSG combines geometric forecasting of human pose and trajectory with VLM-generated semantic descriptions of intentions, fused into a topological map with a social distance loss, yielding 14% higher success rate and 34% lower collision rate on the HA-VLNCE benchmark.
NavGPT: Explicit reasoning in vision- and-language navigation with large language models,
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HCSG: Human-Centric Semantic-Geometric Reasoning for Vision-Language Navigation
HCSG combines geometric forecasting of human pose and trajectory with VLM-generated semantic descriptions of intentions, fused into a topological map with a social distance loss, yielding 14% higher success rate and 34% lower collision rate on the HA-VLNCE benchmark.