
GIST: Multimodal Spatial Grounding Topology
GIST transforms consumer-grade mobile point clouds into semantically annotated navigation topologies via 2D occupancy maps, topological layouts, and lightweight semantic overlays. It powers tasks like intent-driven semantic search, one-shot localization (1.04m error), zone classification, and visually-grounded instruction generation. Evaluations show superior performance over baselines and 80% navigation success with verbal cues.






