Search arXiv⌕ Search
Home/Archive/arXiv

arXiv · 2506.16826

AnyTraverse: An off-road traversability framework with VLM and human operator in the loop

Sattwik Sahu·Agamdeep Singh·Karthik Nambiar·Srikanth Saripalli·P. B. Sujit
View original source ↗Read source document ↗Export metadata ↓

Abstract

Off-road traversability segmentation enables autonomous navigation with applications in search-and-rescue, military operations, wildlife exploration, and agriculture. Current frameworks struggle due to significant variations in unstructured environments and uncertain scene changes, and are not adaptive to be used for different robot types. We present AnyTraverse, a framework combining natural language-based prompts with human-operator assistance to determine navigable regions for diverse robotic vehicles. The system segments scenes for a given set of prompts and calls the operator only when encountering previously unexplored scenery or unknown class not part of the prompt in its region-of-interest, thus reducing active supervision load while adapting to varying outdoor scenes. Our zero-shot learning approach eliminates the need for extensive data collection or retraining. Our experimental validation includes testing on RELLIS-3D, Freiburg Forest, and RUGD datasets and demonstrate real-world deployment on multiple robot platforms. The results show that AnyTraverse performs better than GA-NAV and Off-seg while offering a vehicle-agnostic approach to off-road traversability that balances automation with targeted human supervision.

Explore related subjects

cs.CVcs.AIcs.RO

Keep this discovery

Explore connections, maps & timelines

BibTeXRIS

Sattwik Sahu, Agamdeep Singh, Karthik Nambiar, Srikanth Saripalli, P. B. Sujit. 2025-06-20. AnyTraverse: An off-road traversability framework with VLM and human operator in the loop. https://arxiv.org/abs/2506.16826

Cite the original work for its findings. Save a collection to share your selection of sources.

KEEP EXPLORING

Related papers

arXiv2026

Band-Attention Modulation Network for Robust Face Forgery Detection

Face forgery detection faces critical challenges in generalizing to unseen manipulation techniques and remaining robust under image compression, which often obscures subtle artifacts. Existing methods typically rely on fixed filters or coarse band separation, lacking the adaptability to learn task-specific spectral cues. To address this, we propose the Band-Attention Modulation Network (BAM-Net), a novel framework that pioneers learnable, fine-grained modulation of frequency components for forgery detection. At its core is the Band-Attention Modulation (BAM) mechanism, which transforms an image into its Discrete Cosine Transform (DCT) spectrogram and learns to dynamically reweight frequency bands along anti-diagonals. This process effectively enhances forgery-related spectral signatures while suppressing less informative ones, simulating an adaptive "inverse compression" that counters information loss. The modulated frequency information is then fused with the spatial domain to guide a lightweight yet effective spatial backbone equipped with distance-decayed attention for comprehensive feature extraction. Extensive experiments on FaceForensics++, Celeb-DF, and DFDC datasets demonstrate that BAM-Net achieves state-of-the-art performance. More importantly, it exhibits exceptional generalization in cross-dataset, cross-compression, and cross-manipulation scenarios, underscoring the vital role of adaptive frequency band modulation in building robust forgery detectors.

cs.CV↗
arXiv2026

Comparing YOLOv11 and YOLOv8 for instance segmentation of occluded and non-occluded immature green fruits in complex orchard environment

This study conducted a comprehensive performance evaluation on YOLO11 (or YOLOv11) and YOLOv8, the latest in the "You Only Look Once" (YOLO) series, focusing on their instance segmentation capabilities for immature green apples in orchard environments. YOLO11n-seg achieved the highest mask precision across all categories with a notable score of 0.831, highlighting its effectiveness in fruit detection. YOLO11m-seg and YOLO11l-seg excelled in non-occluded and occluded fruitlet segmentation with scores of 0.851 and 0.829, respectively. Additionally, YOLOv11x-seg led in mask recall for all categories, achieving a score of 0.815, with YOLO11m-seg performing best for non-occluded immature green fruitlets at 0.858 and YOLOv8x-seg leading the occluded category with 0.800. In terms of mean average precision at a 50\% intersection over union (mAP@50), YOLOv11m-seg consistently outperformed, registering the highest scores for both box and mask segmentation, at 0.876 and 0.860 for the "All" class and 0.908 and 0.909 for non-occluded immature fruitlets, respectively. YOLO11l-seg and YOLOv8l-seg shared the top box mAP@50 for occluded immature fruitlets at 0.847, while YOLO11m-seg achieved the highest mask mAP@50 of 0.810. Despite the advancements in YOLO11, YOLOv8n surpassed its counterparts in image processing speed, with an impressive inference speed of 3.3 milliseconds, compared to the fastest YOLO11 series model at 4.8 milliseconds, underscoring its suitability for real-time agricultural applications related to complex green fruit environments. Future work will compare YOLO26 (YOLOv26) and YOLO27 (YOLOv27) using the same dataset and training protocol.

cs.CV↗
arXiv2026

Cross-Task Generalization in Handwriting-Based Alzheimer's Screening via Vision Language Adaptation

Alzheimer's disease (AD) is a prevalent neurodegenerative disorder for which early detection is critical. Handwriting, which can be disrupted by subtle motor and cognitive decline, provides a non-invasive and cost-effective window for AD screening. Existing handwriting-based AD studies mostly rely on online trajectories and hand-crafted features, while the influence of handwriting task type on diagnostic performance and cross-task generalization remains underexplored. Meanwhile, large-scale vision--language models have demonstrated strong transfer and adaptation ability in natural-image anomaly detection and several medical modalities, such as chest X-ray and brain MRI. However, handwriting-based disease detection remains unexplored within this paradigm. To address this gap, we introduce a lightweight Cross-Layer Fusion Adapter (CLFA) framework that repurposes Contrastive Language--Image Pre-training (CLIP) for handwriting-based AD screening. CLFA inserts multi-level adapters into a frozen visual encoder, combining cross-layer feature fusion with depthwise 2D convolution on patch grids to capture both local stroke irregularities and higher-level handwriting structure. This design progressively aligns pretrained vision--language representations with AD-related handwriting cues and supports transfer from supervised source tasks to task-disjoint unseen target tasks. On the Darwin dataset, under the subject-disjoint cross-task protocol, averaged over all 600 task-disjoint source-target pairs, CLFA achieves 74.63\% AUC, 74.85\% accuracy, and 73.72\% F1 score, outperforming the best competing model by 2.15, 1.79, and 1.87 percentage points, respectively.

cs.CV↗