Article

Natural-Language to Nav2: An Operational Policy Interface for Costmap-Based Navigation

The paper proposes a natural-language policy interface that connects operator instructions to ROS 2 Nav2: a local large language model converts instructions into JSON policies specifying destinations, spatial constraints, and temporal or event conditions; deterministic checks then decide whether to accept them, and three costmap adapters inject them into the existing navigation stack without changing the planner or controller.

Part of the event: Natural Language Policy Interface for ROS 2 Nav2

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