# Grid2Guide: A* Enabled Small Language Model for Indoor Navigation

arXiv: https://arxiv.org/abs/2508.08100 · HTML: https://mlsanity.com/paper/2508.08100/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 9 of its 37 references that are in the map.
- First posted on arXiv 11 Aug 2025.

## Builds on (most cited first, 9 of 9)

- [Training language models to follow instructions with human feedback](https://mlsanity.com/paper/2203.02155/) (2022)
- [Chain-of-Thought Prompting Elicits Reasoning in Large Language Models](https://mlsanity.com/paper/2201.11903/) (2022)
- [Finetuned Language Models Are Zero-Shot Learners](https://mlsanity.com/paper/2109.01652/) (2021)
- [Scaling Instruction-Finetuned Language Models](https://mlsanity.com/paper/2210.11416/) (2022)
- [TinyLlama: An Open-Source Small Language Model](https://mlsanity.com/paper/2401.02385/) (2024)
- [Prompt Programming for Large Language Models: Beyond the Few-Shot Paradigm](https://mlsanity.com/paper/2102.07350/) (2021)
- [A Systematic Survey of Prompt Engineering in Large Language Models: Techniques and Applications](https://mlsanity.com/paper/2402.07927/) (2024)
- [Tiny Titans: Can Smaller Large Language Models Punch Above Their Weight in the Real World for Meeting Summarization?](https://mlsanity.com/paper/2402.00841/) (2024)
- [Indoor Navigation on Google Maps and Indoor Localization Using RSS Fingerprinting](https://mlsanity.com/paper/1405.5669/) (2014)

## Abstract (arXiv)

Reliable indoor navigation remains a significant challenge in complex environments, particularly where external positioning signals and dedicated infrastructures are unavailable. This research presents Grid2Guide, a hybrid navigation framework that combines the A* search algorithm with a Small Language Model (SLM) to generate clear, human-readable route instructions. The framework first conducts a binary occupancy matrix from a given indoor map. Using this matrix, the A* algorithm computes the optimal path between origin and destination, producing concise textual navigation steps. These steps are then transformed into natural language instructions by the SLM, enhancing interpretability for end users. Experimental evaluations across various indoor scenarios demonstrate the method's effectiveness in producing accurate and timely navigation guidance. The results validate the proposed approach as a lightweight, infrastructure-free solution for real-time indoor navigation support.