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

- Source: arXiv cs.RO
- Published: 2026-10-26T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/a0isi2kapkey2sijrspymnhk0
- Original: https://arxiv.org/abs/2610.32633

## Summary

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.