SAFER-Nav: Enhancing Safety for Visual Robot Navigation via Segmentation-Aware Fine-Tuning

arXiv:2606.11636 · cs.RO · Submitted 2026-06-10 · Read on arXiv

cs.RO

Submitted: 2026-06-10

Updated: 2026-09-18

Project page: https://corl-sub-2026.github.io

Terminology

• Fine-Tuning — 11× in this paper · explained in 5 episodes
• Transformer — 8× in this paper · explained in 2 episodes
• Foundation Model — 6× in this paper · explained in 3 episodes
• Foundation Models — 5× in this paper · explained in 7 episodes
• Latent Representation — 4× in this paper · explained in 2 episodes
• Flow Matching — 3× in this paper · explained in 8 episodes
• Ablation — 2× in this paper · explained in 1 episode
• Adaptation — 2× in this paper · explained in 1 episode
• Ablation study — 1× in this paper · explained in 1 episode
• Accuracy — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Consistency — 1× in this paper · explained in 3 episodes
• Decode — 1× in this paper · explained in 2 episodes
• Distribution Shift — 1× in this paper · explained in 6 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Hysteresis — 1× in this paper · explained in 3 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Segmentation Masks — 1× in this paper · explained in 2 episodes

Sources

• Can Vision Foundation Models Navigate? Zero-Shot Real-World Evaluation and Lessons Learned

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