Pith Number

pith:X4FJKXA3

pith:2026:X4FJKXA35PU4N5XHSK2TQOO6B7

not attested not anchored not stored refs resolved

NORM-Nav: Zero-Shot Mobile Robot Navigation with Natural Language Behavioral Constraints

Chao Gao, Dongjie Huo, Dong Zhang, Guyue Zhou, Junhui Wang, Yan Qiao

NORM-Nav converts natural language behavioral constraints into multi-layer costmaps that standard planners can use for more human-like robot paths.

arxiv:2605.16979 v1 · 2026-05-16 · cs.RO

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\pithnumber{X4FJKXA35PU4N5XHSK2TQOO6B7}

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Record completeness

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2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

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The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

NORM-Nav improves task success rates and produces trajectories closer to human references than representative baselines in simulation and real-world experiments.

C2weakest assumption

The LLM can reliably parse natural language behavioral constraints and the real-time vision-LiDAR system can accurately ground those constraints to produce effective multi-layer costmaps that preserve intended behavior when used by standard planners.

C3one line summary

NORM-Nav is a zero-shot framework that parses natural language behavioral constraints with an LLM, grounds them via vision-LiDAR, and encodes them as multi-layer costmaps for grid-based robot navigation.

References

32 extracted · 32 resolved · 4 Pith anchors

[1] Safe-vln: Collision avoidance for vision-and-language navigation of autonomous robots operating in continuous environments, 2024

[2] MPC-DS: A safe path track- ing method for agvs in dynamic environments with dense obstacles, 2025

[3] Openbench: A new benchmark and baseline for semantic navigation in smart logistics, 2025

[4] Open: Lightweight map-based semantic navigation for gps-free last-mile delivery, 2025

[5] The marathon 2: A navigation system, 2020

Formal links

2 machine-checked theorem links

Receipt and verification

First computed	2026-05-20T00:03:34.207975Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

bf0a955c1bebe9c6f6e792b53839de0fce9cb26817f405014efe71ab02b58908

Aliases

arxiv: 2605.16979 · arxiv_version: 2605.16979v1 · doi: 10.48550/arxiv.2605.16979 · pith_short_12: X4FJKXA35PU4 · pith_short_16: X4FJKXA35PU4N5XH · pith_short_8: X4FJKXA3

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/X4FJKXA35PU4N5XHSK2TQOO6B7 \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: bf0a955c1bebe9c6f6e792b53839de0fce9cb26817f405014efe71ab02b58908

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "fabe584c0b5e7f3715ca73bb21ea30f7c091961433c8dde3ecc1d5591fae2e36",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-16T12:58:03Z",
    "title_canon_sha256": "7cc508e3d5015789841232fde2a9f580daf0abeae119379dfacd91be1cbb7492"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.16979",
    "kind": "arxiv",
    "version": 1
  }
}