---
pattern_id: pattern_logoplanner
applicable_symptoms: [logoplanner]
domain: Planning_Decision
---

# Cumulative error and cascading failures in modular navigation pipelines due to separate localization, mapping, and planning modules.

**Domain**: `Planning_Decision`

## Fix

Fine-tune a long-horizon visual-geometry backbone with auxiliary tasks (metric scale grounding, scene geometry reconstruction, implicit geometry bootstrapping) to output metric-scale predictions and condition the policy on implicit geometry, enabling fully end-to-end navigation without a separate localization module.

## Anti-pattern

Modular pipelines with separate localization, mapping, and planning modules that suffer from cumulative error and cascading failures.

## Cross-domain analogies

- **Perception_Vision** → Closed-loop verification using synthetic trajectory embeddings to realign modular states.
  - related fix: Generate synthetic images from landmark text descriptions via a text-to-image diffusion model, and train the agent with an auxiliary grounding loss that aligns instruction representations with imagination embeddings
- **Learning_Training** → Progressive hierarchical distillation: compress multi-module pipeline into cascaded lightweight stages.
  - related fix: Two-stage progressive knowledge distillation: first distill from large teacher to medium student, then from medium to small student, achieving 1/7 model size with same accuracy.
- **Control_Locomotion** → End-to-end learned policy fusing perception and action to bypass fragile modular cascades.
  - related fix: Train a visual locomotion policy that maps camera images and proprioception to joint actions, enabling real-time foot placement adaptation to obstacles.

## Patch

```diff
--- logoplanner.before.py
+++ logoplanner.after.py
@@ -1,2 +1,4 @@
-# --- BEFORE (vulnerable to the symptom below) ---

+# --- AFTER (ROSCLAW heuristic graft) ---

 # Symptom: Cumulative error and cascading failures in modular navigation pipelines due to separate localization, mapping, and planning modules.

+# Fix    : Fine-tune a long-horizon visual-geometry backbone with auxiliary tasks (metric scale grounding, scene geometry reconstruction, implicit geometry bootstrapping) to output metric-scale predictions and condition the policy on implicit geometry, enabling fully end-to-end navigation without a separate localization module.

+# Avoid  : Modular pipelines with separate localization, mapping, and planning modules that suffer from cumulative error and cascading failures.

```
