"Drive up to the fridge" didn't work before because the chat agent had no planner and sent the robot blind. Now a separate node builds a Hybrid A* route on a traversability grid that nvblox computes on the GPU in 1-5 ms (before, on the CPU, up to 3 seconds). A route is planned in 5-30 ms and replanned if something shows up on the way.
The fridge was fun: first the robot stopped in front of a wall corner, then 2.26 m from the fridge, and in the successful trip it changed its mind 6 times between the short route and a detour through the whole flat. In the end 5.35 m in 52 seconds and a stop 30-40 cm from the door.
