# Touvigation：面向盲人和低视力用户在陌生室内环境中的具身自适应物体获取

> 原文链接：https://robotics.hellobike.com/papers/2026-09-18-2609-21828
> 频道：papers | 更新日期：2026-09-18 | 标签：arxiv, cs.RO
> 核心摘要：Touvigation结合视觉语言理解与持续局部空间建模，为陌生室内物体获取提供低延迟身体相对引导，并在用户实验中验证。

# Touvigation：面向盲人和低视力用户在陌生室内环境中的具身自适应物体获取

::: v-pre
> 原文链接：[Touvigation: Embodied Adaptive Object Acquisition for Blind and Low-Vision Users in Unfamiliar Indoor Environments](https://arxiv.org/abs/2609.21828)（arXiv 2609.21828 · 发布日期：2026-09-18）

**Touvigation: Embodied Adaptive Object Acquisition for Blind and Low-Vision Users in Unfamiliar Indoor Environments**

Touvigation结合视觉语言理解与持续局部空间建模，为陌生室内物体获取提供低延迟身体相对引导，并在用户实验中验证。

## 核心要点

- 盲人和低视力用户在陌生室内定位并拿取物体时面临困难。
- 系统结合视觉语言理解和持续局部空间建模，提供低延迟身体相对指导。
- 基于8名参与者访谈，设计随定向、行走、伸手和触觉确认变化的多阶段引导。
- 12名参与者评估中，成功率100%，高于多模态助手58%和无辅助85%，并减少完成时间和认知负担。

**验证范围与局限**：验证范围为12名盲人和低视力参与者在陌生室内环境中的物体获取任务。

## 英文摘要 (Abstract)

Blind and low-vision users often face challenges when locating and physically acquiring objects in unfamiliar indoor environments. Existing vision-language-model-based assistants can provide semantic descriptions but may introduce latency, hallucinations, and guidance that is poorly aligned with embodied action. We present Touvigation, a hands-free object acquisition system that combines vision-language understanding with persistent local spatial modeling to provide low-latency, body-relative guidance. Drawing on formative interviews with eight blind and low-vision participants, we design a multi-stage guidance framework that adapts spatial references as users transition from orienting, to walking, to reaching and tactile verification. We evaluated Touvigation with 12 blind and low-vision participants against a multimodal large-language-model assistant and unassisted search. Touvigation achieved 100% task success, compared with 58% for the multimodal assistant and 85% for unassisted search, while reducing completion time and cognitive workload. Our findings demonstrate how persistent spatial grounding and adaptive embodied guidance can improve object acquisition for blind and low-vision users.

作者：George Xi Wang, Xiangyu Li, Shaoyue Wen, Jiaqian Hu, Junan Xie, Yupeng Wang, Ziyue Shi, Qijun Chen, Maaike Bouwmeester, Yuhua Jin
:::

## 原始参考来源 (Sources)

- [arXiv 2609.21828：Touvigation: Embodied Adaptive Object Acquisition for Blind and Low-Vision Users in Unfamiliar Indoor Environments](https://arxiv.org/abs/2609.21828)