{"id":"https://openalex.org/W7164907203","doi":"https://doi.org/10.48550/arxiv.2606.16400","title":"SemGeoNav:A Safety-Guided Visual Navigation Approach with Semantic Reasoning and Geometric Planning","display_name":"SemGeoNav:A Safety-Guided Visual Navigation Approach with Semantic Reasoning and Geometric Planning","publication_year":2026,"publication_date":"2026-06-15","ids":{"openalex":"https://openalex.org/W7164907203","doi":"https://doi.org/10.48550/arxiv.2606.16400"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.16400","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.16400","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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.16400","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5138722035","display_name":"Yu Lu Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Yu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024410156","display_name":"Zongyang Chen","orcid":"https://orcid.org/0009-0009-9881-163X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Zongyang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101893660","display_name":"Yi Guo","orcid":"https://orcid.org/0009-0006-1890-6726"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Guo, Yan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138750350","display_name":"Chao Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Chao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5138754533","display_name":"Xianfei Pan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pan, Xianfei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.4036000072956085,"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"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.4036000072956085,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.3314000070095062,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.07850000262260437,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6201000213623047},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6175000071525574},{"id":"https://openalex.org/keywords/smoothing","display_name":"Smoothing","score":0.5350000262260437},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5134999752044678},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.45210000872612},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.448199987411499},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.41620001196861267}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6861000061035156},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6414999961853027},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6201000213623047},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6175000071525574},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5756000280380249},{"id":"https://openalex.org/C3770464","wikidata":"https://www.wikidata.org/wiki/Q775963","display_name":"Smoothing","level":2,"score":0.5350000262260437},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5134999752044678},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.45210000872612},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.448199987411499},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.41620001196861267},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.41519999504089355},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.34139999747276306},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.3357999920845032},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.3321000039577484},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.30970001220703125},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.29179999232292175},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.27799999713897705},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.2750999927520752},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.2574000060558319}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.16400","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.16400","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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.16400","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.16400","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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"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":{"Learning-based":[0],"visual":[1,42,54],"navigation":[2,55,78,130],"has":[3],"enhanced":[4],"semantic":[5,61],"goal-reaching":[6],"capabilities.":[7],"However,":[8],"due":[9],"to":[10,23,92],"their":[11],"black-box":[12],"nature,":[13],"purely":[14],"end-to-end":[15,64],"models":[16,65],"often":[17],"lack":[18],"explicit":[19],"geometric":[20,34],"constraints,":[21],"leading":[22],"unpredictable":[24],"and":[25,95,122,128],"unreliable":[26],"obstacle":[27,82],"avoidance":[28],"in":[29,108],"open":[30],"environments.":[31,110],"Conversely,":[32],"traditional":[33],"planners":[35],"ensure":[36,93],"safety":[37],"but":[38],"struggle":[39],"with":[40,66],"high-dimensional":[41],"targets.":[43],"To":[44],"address":[45],"these":[46],"limitations,":[47],"we":[48,85],"propose":[49],"SemGeoNav,":[50],"a":[51,87,103],"novel":[52],"hierarchical":[53],"framework.It":[56],"tightly":[57],"integrates":[58],"the":[59,67],"high-level":[60],"reasoning":[62],"of":[63,72],"reliable":[68],"local":[69],"planning":[70],"ability":[71],"geometry-based":[73],"methods,":[74,119],"achieving":[75,124],"robust":[76],"image-based":[77],"while":[79],"significantly":[80],"improving":[81],"avoidance.":[83],"Furthermore,":[84],"introduce":[86],"temporal":[88],"trajectory":[89],"smoothing":[90],"mechanism":[91],"continuous":[94],"stable":[96],"robot":[97,107],"motion.":[98],"We":[99],"evaluated":[100],"SemGeoNav":[101,115],"on":[102],"Unitree":[104],"Go2":[105],"quadruped":[106],"real-world":[109],"The":[111],"results":[112],"demonstrate":[113],"that":[114],"outperforms":[116],"existing":[117],"representative":[118],"including":[120],"ViNT":[121],"NoMaD,":[123],"higher":[125],"success":[126],"rates":[127],"shorter":[129],"times.":[131]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-17T00:00:00"}