dorsal/arxiv
View SchemaFollow the Signs: Using Textual Cues and LLMs to Guide Efficient Robot Navigation
| Authors | Jing Cao, Nishanth Kumar, Aidan Curtis |
|---|---|
| Categories | |
| ArXiv ID | 2601.06652vv1 |
| URL | https://arxiv.org/abs/2601.06652 |
| License | http://creativecommons.org/licenses/by/4.0/ |
Abstract
Autonomous navigation in unfamiliar environments often relies on geometric mapping and planning strategies that overlook rich semantic cues such as signs, room numbers, and textual labels. We propose a novel semantic navigation framework that leverages large language models (LLMs) to infer patterns from partial observations and predict regions where the goal is most likely located. Our method combines local perceptual inputs with frontier-based exploration and periodic LLM queries, which extract symbolic patterns (e.g., room numbering schemes and building layout structures) and update a confidence grid used to guide exploration. This enables robots to move efficiently toward goal locations labeled with textual identifiers (e.g., "room 8") even before direct observation. We demonstrate that this approach enables more efficient navigation in sparse, partially observable grid environments by exploiting symbolic patterns. Experiments across environments modeled after real floor plans show that our approach consistently achieves near-optimal paths and outperforms baselines by over 25% in Success weighted by Path Length.
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"date_created": "2026-02-17T05:53:08.612000Z",
"date_modified": "2026-02-17T05:53:08.612000Z",
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"abstract": "Autonomous navigation in unfamiliar environments often relies on geometric mapping and planning strategies that overlook rich semantic cues such as signs, room numbers, and textual labels. We propose a novel semantic navigation framework that leverages large language models (LLMs) to infer patterns from partial observations and predict regions where the goal is most likely located. Our method combines local perceptual inputs with frontier-based exploration and periodic LLM queries, which extract symbolic patterns (e.g., room numbering schemes and building layout structures) and update a confidence grid used to guide exploration. This enables robots to move efficiently toward goal locations labeled with textual identifiers (e.g., \"room 8\") even before direct observation. We demonstrate that this approach enables more efficient navigation in sparse, partially observable grid environments by exploiting symbolic patterns. Experiments across environments modeled after real floor plans show that our approach consistently achieves near-optimal paths and outperforms baselines by over 25% in Success weighted by Path Length.",
"arxiv_id": "2601.06652",
"authors": [
"Jing Cao",
"Nishanth Kumar",
"Aidan Curtis"
],
"categories": [
"cs.RO"
],
"license": "http://creativecommons.org/licenses/by/4.0/",
"title": "Follow the Signs: Using Textual Cues and LLMs to Guide Efficient Robot Navigation",
"url": "https://arxiv.org/abs/2601.06652",
"version": "v1"
},
"schema_id": "dorsal/arxiv",
"source": {
"execution_id": "4252b71a-d033-4045-a776-a11ec0499159",
"id": "arXiv Dataset",
"type": "Model",
"variant": "snapshot-2026-01-17",
"version": "0.1.0"
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