VbotNav-0: Asynchronous Cloud-Edge Dual-Policy Navigation across Indoor and Outdoor Environments

Abstract:Continuous indoor-outdoor navigation connects destination-level reasoning with motion decisions that must respond to current observations. We present VbotNav-0, a cloud-edge dual-policy framework that links these processes through asynchronous policy-to-policy conditioning. The cloud policy produces subgoal guidance from visual history, navigation instructions, and route tokens; the edge policy combines available guidance with current RGB and LiDAR observations to generate local trajectories. This formulation allows the local perception-action loop to continue between cloud updates. A common route representation connects indoor paths and outdoor map routes, and the training recipe combines navigation demonstrations, corrective data, and grounded visual question answering (VQA). In the reported closed-loop evaluation of 258 episodes across 145 scenes, VbotNav-0 achieves 55.04% success rate and 55.03% success weighted by path length.

Robotics (cs.RO)

arXiv:2610.14634 [cs.RO]

(or arXiv:2610.14634v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2610.14634 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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