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UDAV, an Uncertainty-Driven Adaptive VLM Waypoint Planner for UAV-guided UGV navigation is presented, demonstrating that stochastic VLM predictions provide both a stronger nominal route and an actionable uncertainty signal for selectively mitigating large planning errors.
The Causal Context-Gated Forecaster (CCGF), which encodes a 60-frame pre-dropout history of gaze and head pose and combines it with DINOv3 scene features and evaluates two scene conditions: Live, in which the scene representation continues to update during tracker loss, and Frozen, in which the final pre-dropout repres...
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