arXiv cs.AI· Jose Mart\'inez-Fajardo, Pablo Pueyo, Fernando Caballero, Luis Merino·· 13 小时前AI 评分26
从语言到导航目标：基于 RGB-D 感知的移动机器人语义导航视觉语言方法
From Language to Navigation Goals: A Vision-Language Approach for Semantic Navigation of Mobile Robots Using RGB-D Perception
AI 导读
一个语言驱动的导航框架让移动机器人将自然语言请求转化为导航目标并自主抵达，系统由模块化 ROS 2 组件构成，先用 RGB-D 数据识别并定位指令所指物体，再通过 ROS 2 Nav2 导航栈执行。
正文 · 原文
Abstract:Natural language interaction provides an intuitive way for non-expert users to communicate with robotic platforms. However, transforming user requests into executable navigation actions remains a challenging task, requiring the integration of language understanding, environment perception, and autonomous navigation. This work presents a language-driven navigation framework that enables mobile robots to interpret user requests in natural language to move the robot to a destination and autonomously navigate towards it.
The framework is composed of modular ROS 2 components that cooperate to transform natural language instructions into navigation actions. Given a natural language request referring to a target in the environment (e.g., "go to the mail box"), the system identifies the referenced object, estimates its position using RGB-D data, and generates a navigation goal, which is then executed through the ROS 2 Nav2 navigation stack. The ROS 2-based implementation facilitates portability across different robotic platforms, requiring only the configuration of the corresponding topics and services.
The system is evaluated in both simulation and real-world scenarios using a TurtleBot3 Waffle and a Unitree Go2 robot with a RealSense camera. Experimental results show that the framework successfully interprets both direct commands and contextual requests, generates meaningful natural-language feedback, and navigates towards the desired target. These results demonstrate the feasibility of combining semantic perception and autonomous navigation to provide an intuitive human-robot interaction paradigm. Code will be released as open source upon acceptance.
| Comments: | 7 pages, 7 figures, 4 tables |
| Subjects: | Robotics (cs.RO); Artificial Intelligence (cs.AI) |
| Cite as: | arXiv:2607.13624 [cs.RO] |
| (or arXiv:2607.13624v2 [cs.RO] for this version) | |
| https://doi.org/10.48550/arXiv.2607.13624 arXiv-issued DOI via DataCite |
Submission history
From: Jose Martínez-Fajardo [view email]
[v1]
Wed, 15 Jul 2026 09:15:21 UTC (1,720 KB)
[v2]
Tue, 27 Oct 2026 14:34:48 UTC (1,435 KB)
来源：arXiv cs.AI · arxiv.org