OptiSight: Bridging Semantic Reasoning and Geometric Control for Embodied Navigation

Abstract:Autonomous indoor navigation requires both semantic understanding and precise geometric control. We propose OptiSight, a hybrid framework that combines Vision-Language Model reasoning with deterministic visual servoing through a finite-state Chain-of-Thought architecture. Grounded-SAM localizes open-vocabulary targets, while camera projection geometry converts visual observations into navigation commands without requiring dense mapping. The VLM is queried only at key decision points, reducing computational overhead while geometric control handles continuous navigation. Experiments in AI Habitat demonstrate reliable zero-shot navigation across diverse indoor scenarios, including obstacle avoidance and semantic ambiguity, while operating within an 8~GB VRAM budget. The source code is available at this https URL.

Robotics (cs.RO); Computer Vision and Pattern Recognition (cs.CV)

arXiv:2608.23354 [cs.RO]

(or arXiv:2608.23354v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2608.23354 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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