CAVE-NAV: VLM-Based Autonomous 3D Navigation in Underwater Cave Environments

Abstract: Autonomous navigation in underwater cave environments is essential for search-and-rescue operations, scientific exploration, and emergency egress. Traditional navigation systems commonly depend on dense visual features for localization and mapping. In underwater caves, however, visual degradation can undermine feature-based localization, sonar-based mapping may yield overly conservative obstacle representations, and communication constraints preclude real-time human guidance. To address these limitations, we propose an autonomous underwater cave navigation framework that leverages a vision-LLM (VLM) with Chain-of-Thought (CoT) reasoning to infer navigable directions from environmental cues, including light intensity gradients, passage morphology, and geometric complexity, captured through multimodal inputs comprising RGB imagery, depth maps, and sonar-based vertical-clearance measurements, thereby supporting safe 3D navigation through confined cave passages. High-fidelity simulations across multiple cave topologies demonstrate that the proposed framework completes all evaluated end-to-end traversals without collisions while maintaining safe clearance from cave boundaries.