{"id":"https://openalex.org/W4417100008","doi":"https://doi.org/10.48550/arxiv.2508.01715","title":"Towards Zero-Shot Terrain Traversability Estimation: Challenges and Opportunities","display_name":"Towards Zero-Shot Terrain Traversability Estimation: Challenges and Opportunities","publication_year":2025,"publication_date":"2025-08-03","ids":{"openalex":"https://openalex.org/W4417100008","doi":"https://doi.org/10.48550/arxiv.2508.01715"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2508.01715","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2508.01715","pdf_url":"https://arxiv.org/pdf/2508.01715","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2508.01715","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5013354274","display_name":"Ida Germann","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Germann, Ida","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062384836","display_name":"Mark Oliver Mints","orcid":"https://orcid.org/0009-0006-6426-6432"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mints, Mark O.","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5021238100","display_name":"Peer Neubert","orcid":"https://orcid.org/0000-0002-7312-9935"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Neubert, Peer","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5013354274"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.33329999446868896,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.33329999446868896,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.25679999589920044,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.07490000128746033,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7087000012397766},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.633400022983551},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.5723000168800354},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.567799985408783},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.40689998865127563}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7087000012397766},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6790000200271606},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.633400022983551},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6050000190734863},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.5723000168800354},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.567799985408783},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.40689998865127563},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3817000091075897},{"id":"https://openalex.org/C2780966255","wikidata":"https://www.wikidata.org/wiki/Q5474306","display_name":"Foundation (evidence)","level":2,"score":0.3750999867916107},{"id":"https://openalex.org/C99695388","wikidata":"https://www.wikidata.org/wiki/Q350514","display_name":"Raised-relief map","level":3,"score":0.28119999170303345},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.2712000012397766}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2508.01715","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2508.01715","pdf_url":"https://arxiv.org/pdf/2508.01715","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2508.01715","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2508.01715","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2508.01715","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2508.01715","pdf_url":"https://arxiv.org/pdf/2508.01715","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Terrain":[0],"traversability":[1,46,71],"estimation":[2],"is":[3],"crucial":[4],"for":[5,27,69,87,94],"autonomous":[6],"robots,":[7],"especially":[8],"in":[9],"unstructured":[10],"environments":[11],"where":[12],"visual":[13],"cues":[14],"and":[15],"reasoning":[16],"play":[17],"a":[18,40,63],"key":[19],"role.":[20],"While":[21],"vision-language":[22],"models":[23,82],"(VLMs)":[24],"offer":[25],"potential":[26],"zero-shot":[28,70],"estimation,":[29],"the":[30],"problem":[31],"remains":[32],"inherently":[33],"ill-posed.":[34],"To":[35],"explore":[36],"this,":[37],"we":[38,61],"introduce":[39],"small":[41],"dataset":[42],"of":[43],"human-annotated":[44],"water":[45],"ratings,":[47],"revealing":[48],"that":[49,66,79],"while":[50],"estimations":[51],"are":[52,83],"subjective,":[53],"human":[54],"raters":[55],"still":[56],"show":[57],"some":[58],"consensus.":[59],"Additionally,":[60],"propose":[62],"simple":[64],"pipeline":[65],"integrates":[67],"VLMs":[68],"estimation.":[72],"Our":[73],"experiments":[74],"reveal":[75],"mixed":[76],"results,":[77],"suggesting":[78],"current":[80],"foundation":[81],"not":[84],"yet":[85],"suitable":[86],"practical":[88],"deployment":[89],"but":[90],"provide":[91],"valuable":[92],"insights":[93],"further":[95],"research.":[96]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-10-10T00:00:00"}
