Event
Natural Language Policy Interface for ROS 2 Nav2
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Jiyeong Chae and other authors propose a natural language policy interface that connects operator instructions to the ROS 2 Nav2 navigation stack. A local large language model converts instructions into JSON policies specifying destinations, spatial constraints, and temporal or event conditions; deterministic checks decide whether to accept a task, and then three costmap adapters inject accepted policies into the existing navigation stack without changing its planner and controller. Navigation experiments use correct task policies to evaluate no-go zones, zone costs, person-dependent zones, and event-conditioned traversal in simulation and on a TurtleBot3. The interface is currently a method proposed in the paper, and its performance under incorrect or ambiguous instructions has not yet been reported.
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- 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.
arXiv cs.RO ·