# PhysNav-DG: A Novel Adaptive Framework for Robust VLM-Sensor Fusion in Navigation Applications

arXiv: https://arxiv.org/abs/2505.01881 · HTML: https://mlsanity.com/paper/2505.01881/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 26 of its 27 references that are in the map.
- First posted on arXiv 3 May 2025.

## Builds on (most cited first, 26 of 26)

- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [GPT-4 Technical Report](https://mlsanity.com/paper/2303.08774/) (2023)
- [Chain-of-Thought Prompting Elicits Reasoning in Large Language Models](https://mlsanity.com/paper/2201.11903/) (2022)
- [ReAct: Synergizing Reasoning and Acting in Language Models](https://mlsanity.com/paper/2210.03629/) (2022)
- [On Calibration of Modern Neural Networks](https://mlsanity.com/paper/1706.04599/) (2017)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [Scalability in Perception for Autonomous Driving: Waymo Open Dataset](https://mlsanity.com/paper/1912.04838/) (2019)
- [What Uncertainties Do We Need in Bayesian Deep Learning for Computer Vision?](https://mlsanity.com/paper/1703.04977/) (2017)
- [PaLM-E: An Embodied Multimodal Language Model](https://mlsanity.com/paper/2303.03378/) (2023)
- [Towards A Rigorous Science of Interpretable Machine Learning](https://mlsanity.com/paper/1702.08608/) (2017)
- [Matterport3D: Learning from RGB-D Data in Indoor Environments](https://mlsanity.com/paper/1709.06158/) (2017)
- [Sanity Checks for Saliency Maps](https://mlsanity.com/paper/1810.03292/) (2018)
- [Vision-and-Language Navigation: Interpreting visually-grounded navigation instructions in real environments](https://mlsanity.com/paper/1711.07280/) (2017)
- [Interpretable Explanations of Black Boxes by Meaningful Perturbation](https://mlsanity.com/paper/1704.03296/) (2017)
- [Towards Faithfully Interpretable NLP Systems: How should we define and evaluate faithfulness?](https://mlsanity.com/paper/2004.03685/) (2020)
- [ERASER: A Benchmark to Evaluate Rationalized NLP Models](https://mlsanity.com/paper/1911.03429/) (2019)
- [A Benchmark for Interpretability Methods in Deep Neural Networks](https://mlsanity.com/paper/1806.10758/) (2018)
- [LM-Nav: Robotic Navigation with Large Pre-Trained Models of Language, Vision, and Action](https://mlsanity.com/paper/2207.04429/) (2022)
- [Room-Across-Room: Multilingual Vision-and-Language Navigation with Dense Spatiotemporal Grounding](https://mlsanity.com/paper/2010.07954/) (2020)
- [Robotic Control via Embodied Chain-of-Thought Reasoning](https://mlsanity.com/paper/2407.08693/) (2024)
- [Textual Explanations for Self-Driving Vehicles](https://mlsanity.com/paper/1807.11546/) (2018)
- [Explainable AI for Safe and Trustworthy Autonomous Driving: A Systematic Review](https://mlsanity.com/paper/2402.10086/) (2024)
- [The Emerging Landscape of Explainable AI Planning and Decision Making](https://mlsanity.com/paper/2002.11697/) (2020)
- [Social-LLaVA: Enhancing Robot Navigation through Human-Language Reasoning in Social Spaces](https://mlsanity.com/paper/2501.09024/) (2024)
- [Safety Implications of Explainable Artificial Intelligence in End-to-End Autonomous Driving](https://mlsanity.com/paper/2403.12176/) (2024)
- [Advancing Super-Resolution in Neural Radiance Fields via Variational Diffusion Strategies](https://mlsanity.com/paper/2410.18137/) (2024)

## Built on by (most cited first, 2 of 2)

- [Goal-Based Vision-Language Driving](https://mlsanity.com/paper/2507.23042/) (2025)
- [Vision-Language Cross-Attention for Real-Time Autonomous Driving](https://mlsanity.com/paper/2507.23064/) (2025)

## Abstract (arXiv)

Robust navigation in diverse environments and domains requires both accurate state estimation and transparent decision making. We present PhysNav-DG, a novel framework that integrates classical sensor fusion with the semantic power of vision-language models. Our dual-branch architecture predicts navigation actions from multi-sensor inputs while simultaneously generating detailed chain-of-thought explanations. A modified Adaptive Kalman Filter dynamically adjusts its noise parameters based on environmental context. It leverages several streams of raw sensor data along with semantic insights from models such as LLaMA 3.2 11B and BLIP-2. To evaluate our approach, we introduce the MD-NEX Benchmark, a novel multi-domain dataset that unifies indoor navigation, autonomous driving, and social navigation tasks with ground-truth actions and human-validated explanations. Extensive experiments and ablations show that PhysNav-DG improves navigation success rates by over 20% and achieves high efficiency, with explanations that are both highly grounded and clear. This work connects high-level semantic reasoning and geometric planning for safer and more trustworthy autonomous systems.