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PIVOT: Physically Informed Vision-Language Off-Road Traversability for Field Robot Navigation

arXiv · AI, language, vision and robotics · article · Sep 17, 2026 · UTC

Terrain assessment is a critical capability for off-road mobile robots, enabling safe and reliable navigation through unstructured and geometrically complex environments. Conventional geometry-based terrain assessment is fast to compute but often overly conservative in unstructured environments. We present PIVOT: a Physically Informed Vision-Language Off-Road Traversability navigation system that augments conventional geometry-based planning with vision-language-model (VLM)-based semantic reasoning for field robots. To physically ground this assessment, we quantify how strongly the VLM's predi

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