LATIDIA · Robótica

Razonamiento LLM liviano a bordo para una navegación UAV segura con conciencia humana

arXiv: 2610.22092v1Tipo de anuncio: nuevo Resumen: Los robots aéreos que operan cerca de personas deben tratar a un peatón, un automóvil estacionado y una pared de manera diferente, pero la percepción convencional: las pilas de planificación los reducen a ocupar

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arXiv:2610.22092v1 Announce Type: new Abstract: Aerial robots operating near people must treat a pedestrian, a parked car, and a wall differently, yet conventional perception--planning stacks reduce all of them to occupied geometry---a \emph{human-aware safety gap} in which category-specific clearance is unavailable to the planner and temporary occlusions remove pedestrian-specific constraints from its map. We present a modular, fully onboard pipeline that closes this gap by turning visual observations into context-dependent safety constraints for real-time UAV navigation. A shared BLIP encoder drives scene captioning and text-conditioned segmentation, which is fused with depth to localize obstacles in 3D. Obstacle-specific risk is inferred by a lightweight LLM (Qwen-2.5-0.5B) stabilized with retrieval-augmented generation and