Preprint
Aug 2026
OptiSight: Bridging Semantic Reasoning and Geometric Control for Embodied Navigation
OptiSight is proposed, a hybrid framework that combines Vision-Language Model reasoning with deterministic visual servoing through a finite-state Chain-of-Thought architecture that demonstrates reliable zero-shot navigation across diverse indoor scenarios, including obstacle avoidance and semantic ambiguity, while oper...
А. А. Аван, Jordi Sanchez-Riera
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