Per-operation reliability-gate specialization and no-gate evaluation

Investigate whether separating the three reliability components—pose, bearing, and distance—by operation, rather than applying a single conservative joint gate, improves reliability-aware sparse route memory for round-trip vision-language navigation, and determine the effect of removing the reliability gate entirely.

Background

The reliability-aware route-memory system estimates separate pose, bearing, and distance reliability components, but the deployed implementation authorizes route-state updates and action overrides only when all three components jointly satisfy their thresholds. The paper notes that this conservative conjunction does not reveal whether different operations would benefit from distinct reliability criteria. It also does not evaluate a control condition without reliability gating. Establishing the value of per-operation specialization and measuring the effect of no gating would clarify whether the current joint gate is unnecessarily restrictive or appropriately conservative.