robotics
The Robot Followed a Smell Through the Wind
A geometric gate cut displaced source error by 60%, while one diffusion proposal took 41.7 milliseconds.
Summary
A geometric gate cut displaced source error by 60%, while one diffusion proposal took 41.7 milliseconds.
SmellDiffusion represents species-specific gas zones in an open-vocabulary scene graph, estimates a named leak's source, and gives the same goal to classical and diffusion planners. In 424 solved source-wind configurations, 28 concentration peaks sat more than half a meter from the true source. A gate trained only on the training split detected nine of ten held-out displacements at 0.64 precision and reduced mean error on displaced cases from 1.468 meters to 0.592 meters. One diffusion proposal ran faster than gas-guided A*, but best-of-ten sequential sampling cost more overall; plain A* remained the fastest shortest-path method.
Why it matters
A geometric gate cut displaced source error by 60%, while one diffusion proposal took 41.7 milliseconds.
Limits and context
- A gate trained only on the training split detected nine of ten held-out displacements at 0.64 precision and reduced mean error on displaced cases from 1.468 meters to 0.592 meters.
Key claims
A geometric gate cut displaced source error by 60%, while one diffusion proposal took 41.7 milliseconds.
Qualification: A gate trained only on the training split detected nine of ten held-out displacements at 0.64 precision and reduced mean error on displaced cases from 1.468 meters to 0.592 meters.
Evidence: source-2026-09-19-001
Sources
- arXiv preprint 2609.20624arXiv · primary research
Corrections
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