Benchmarking Obstacle-Conditioned Safety in Household Robot Navigation

概要

Safe household navigation requires robots to regulate clearance and speed according to what an obstacle is and how close it is, without unnecessary conservatism. Yet existing evaluations do not test whether semantic safety distinctions are reflected in continuous motion. To that end, we introduce OSMA-Bench, an Obstacle-Conditioned Safe Motion Adaptation Benchmark built on spatially matched scenario sets that differ only in obstacle type. We also propose the Semantic Sensitivity Index (SSI), which measures whether clearance and distance-dependent speed and smoothness follow the caution ordering of obstacles. Evaluating VLM-based and vision-language-action (VLA) policies on the benchmark, we find that neither consistently adapts its motion to obstacle safety, even with explicit safety prompts. Our analysis shows that the policies can correctly distinguish obstacles by safety relevance but fail to reflect this distinction in the motion parameters or actions they produce. For VLM-based policies, which recognize the obstacle and then generate a navigation program, adding an explicit parameter-inference step between these two stages improves adaptation. These findings expose a gap in semantic-to-motion grounding, highlighting the need to translate semantic caution into appropriately safe motion.

参考リンク

• Hugging Face ↗

リンク先のライセンス・再現性・データ条件をご確認ください。自動分類や実装の目安は保証ではありません。

実装を始めるプロンプト

参考リンクを確認したうえで、次の内容をコピーして利用できます。

# 論文・記事
Benchmarking Obstacle-Conditioned Safety in Household Robot Navigation

# 概要
Safe household navigation requires robots to regulate clearance and speed according to what an obstacle is and how close it is, without unnecessary conservatism. Yet existing evaluations do not test…

# 原典
https://arxiv.org/abs/2610.34674

上記の手法を実装してください。実行前に依存関係とライセンスを確認してください。