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[Submitted on 17 Sep 2026] Title:PIVOT: Physically Informed Vision-Language Off-Road Traversability for Field Robot Navigation View a PDF of the paper titled PIVOT: Physically Informed Vision-Language Off-Road Traversability for Field Robot Navigation, by Aoran Jiao and 3 other authors View PDF HTML (experimental) Abstract: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 predicted traversal energy cost, robot vibration, and wheel slip correlate with real-world measurements and introduce a unified traversability score that weights each modality by its prediction-measurement correlation. For efficiency, we design a two-level navigation architecture that retains geometry-based planning as the nominal mode and invokes semantic replanning only when that mode fails to find a path. Across five repeated closed-loop trials on a mixed-terrain route totalling around $6.4$ km, the proposed system increases overall autonomy from $59.6\%$ to $97.0\%$, reduces human interventions from $11$ to $3$, and increases the mean distance between interventions (MDBI) from $69.2$ m to $412.9$ m compared with geometry-only navigation. These results demonstrate that physically grounded VLM-based terrain assessment can substantially extend autonomous navigation beyond the limitations of geometry alone, while preserving efficient geometric planning as the nominal mode. Subjects: Robotics (cs.RO) Cite as: arXiv:2609.20983 [cs.RO] (or arXiv:2609.20983v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2609.20983 arXiv-issued DOI via DataCite (pending registration) Submission history From: Aoran Jiao [view email] [v1] Thu, 17 Sep 2026 18:34:18 UTC (16,437 KB) Full-text links: Access Paper: View a PDF of the paper titled PIVOT: Physically Informed Vision-Language Off-Road Traversability for Field Robot Navigation, by Aoran Jiao and 3 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-09 Change to browse by: cs References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)