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Paper Abstract and Keywords
Presentation 2025-02-18 09:30
Llava-Planner: Enhancing Spatial Awareness of LLaVA for Cost-Effective Path Planning
Ling Xiao, Hiromasa Yamanishi, Toshihiko Yamasaki (UTokyo)
Abstract (in Japanese) (See Japanese page) 
(in English) Cost-effective path planning is essential for unmanned systems, particularly considering the challenges of recharging during prolonged outdoor operations. Despite its significance, this area has been largely overlooked in prior research. Traditional path planning methods are proposed aiming at obstacle avoidance, often resulting in cost-inefficient paths. Meanwhile, large multimodal models (LMMs) exhibit exceptional contextual understanding but remain underutilized in path planning due to their limited spatial awareness.
To bridge this gap, we present Llava-Planner, a large multimodal model designed for cost-effective path planning. Llava-Planner explores a novel approach to leverage LMMs for path planning. This paper also proposes three carefully designed pretraining tasks to further enhance the spatial awareness of Llava-Planner, including: terrain description generation, identification of the coordinates of the start and end point coordinates, and obstacle avoidance prediction.
Experimental evaluations on a newly created grid map dataset demonstrate that LMMs can effectively perform path planning with well-crafted prompts, demonstrating their potential as a robust and efficient solution for robot path planning and navigation. However, there are some random errors found in Llava-Planner generated path points, highlighting the need for human-in-the-loop integration as a potential future direction to enhance reliability and performance.
Keyword (in Japanese) (See Japanese page) 
(in English) Cost-effective path planning / large multimodal models / robot navigation / / / / /  
Reference Info. ITE Tech. Rep.
Paper #  
Date of Issue  
ISSN Online edition: ISSN 2424-1970
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Conference Information
Committee ME AIT MMS IEICE-IE IEICE-ITS SIP  
Conference Date 2025-02-18 - 2025-02-19 
Place (in Japanese) (See Japanese page) 
Place (in English) Hokkaido Univ. 
Topics (in Japanese) (See Japanese page) 
Topics (in English) Image Processing, etc. 
Paper Information
Registration To IEICE-IE 
Conference Code 2025-02-ITS-IE-MMS-ME-AIT 
Language English 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Llava-Planner: Enhancing Spatial Awareness of LLaVA for Cost-Effective Path Planning 
Sub Title (in English)  
Keyword(1) Cost-effective path planning  
Keyword(2) large multimodal models  
Keyword(3) robot navigation  
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1st Author's Name Ling Xiao  
1st Author's Affiliation The University of Tokyo (UTokyo)
2nd Author's Name Hiromasa Yamanishi  
2nd Author's Affiliation The University of Tokyo (UTokyo)
3rd Author's Name Toshihiko Yamasaki  
3rd Author's Affiliation The University of Tokyo (UTokyo)
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Speaker Author-1 
Date Time 2025-02-18 09:30:00 
Presentation Time 15 minutes 
Registration for IEICE-IE 
Paper #  
Volume (vol) vol.49 
Number (no)  
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#Pages  
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