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About this paper
Parastoo Ali Pour, Deepak Prakash Kumar, Tommy Zhou, Pramod Khargonekar, Mohammad Abdullah Al Faruque
CORNAV connects 2D CAD plans and project schedules to an open-vocabulary scene graph to guide construction-aware robot navigation without BIM. It anchors objects to rooms, checks schedules for active hazards, and plans around hard zones while treating soft zones as costly. On 54 requests, task success was 72.2%, versus 13.0% without blueprint grounding; tests were offline on recorded data.
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