EGT: Execution-Grounded Traversability through Learned Closed-Loop Trajectory Distributions

1. 05:00
   arXiv Robotics — research abstractsSignal

   EGT: Execution-Grounded Traversability through Learned Closed-Loop Trajectory Distributions

   This paper introduces Execution-Grounded Traversability (EGT), a method that estimates the probability of successfully executing a path by predicting closed-loop trajectory distributions. The approach uses a latent-space flow matching model conditioned on terrain features and vehicle state to improve traversability estimation over traditional point-wise metrics. Evaluated across 650 simulated trials on unseen terrains, EGT reduces safe-path rejection to 2.2% compared to baselines ranging from 11.4% to 39.5%, and unsafe acceptance to 7.7%. When integrated into a receding-horizon sampling-based planner, it reduces navigation failure rates by 24-42 and 30-44 percentage points over prior methods, while cutting goal-reaching time by up to 20.5% and 45%. The authors also demonstrate zero-shot transfer of the simulation-trained model to real-world outdoor experiments.

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