Papers Visual Navigation
“Visual Navigation” 태그가 달린 논문 435편 · 필터 해제
Pondering the Way: Spatial-perceiving World Action Model for Embodied Navigation
Existing world model-based planners for visual navigation typically follow a verification-centric paradigm, decoupling goal intent from trajectory synthesis. This approach suffers from candidate dependence, heavy computa…
Zero-shot GeneralizationVisual NavigationOrdinal Neural Collapse as a Representation Prior for Visual Navigation
Learning robust navigation policies directly from visual observations remains a fundamental challenge in vision-based robotic navigation. In end-to-end imitation learning approaches, the visual encoder and action decoder…
Visual NavigationLearning Robot Visual Navigation in Crowds via Intention-Aware Scene Representations
Robot crowd navigation requires the ability to infer human intentions while accounting for the structural constraints of the environment. Currently, deep reinforcement learning (DRL) provides a promising method for learn…
Reinforcement LearningVisual NavigationNavWM: A Unified Navigation World Model for Foresight-Driven Planning
Conventional visual navigation policies often struggle with myopic decision-making and mode collapse in complex environments. While world models offer a promising alternative, existing paradigms typically isolate percept…
Trajectory ForecastingVisual NavigationUNSEEN: Uncertainty-aware Navigation via Sparse Estimation in Unknown Environments
Visual navigation in unknown environments remains a core challenge in mobile robotics, especially for resource-constrained platforms. Most existing approaches rely on loosely coupled modular pipelines and strong assumpti…
Visual NavigationSemGeoNav:A Safety-Guided Visual Navigation Approach with Semantic Reasoning and Geometric Planning
Learning-based visual navigation has enhanced semantic goal-reaching capabilities. However, due to their black-box nature, purely end-to-end models often lack explicit geometric constraints, leading to unpredictable and …
Visual NavigationSidewalkBench: Benchmarking Visual Navigation on Urban Sidewalks
Urban sidewalk navigation presents significant challenges due to complex structural layouts, dynamic pedestrian behaviors, and long distances. While recent visual navigation models offer a promising solution, the lack of…
Visual NavigationVISTA: Scale-Aware Visual Navigation via Action History Conditioning
Vision Navigation Foundation Models (VNMs) promise end-to-end learned navigation policies capable of zero-shot deployment across diverse embodiments and environments. To maintain generality, many vision-based navigation …
Visual NavigationNavWAM: A Navigation World Action Model for Goal-Conditioned Visual Navigation
Goal-conditioned visual navigation requires a robot to act under partial observability by anticipating how its motion will change the future egocentric view and whether that change brings it closer to the goal. Navigatio…
Visual NavigationGUIDE: Goal-Initialized Directional Understanding for End-to-End Visual Navigation
Learning-based visual navigation for legged robots typically relies on continuous goal updates from hierarchical state estimation to provide a persistent directional reference. This reliance incurs additional sensory and…
Reinforcement LearningVisual NavigationMAD: Mapping-Aware World Models for Agile Quadrotor Flight
Agile quadrotor flight in cluttered scenes requires more than a reactive mapping from a depth image to a control command: the vehicle must remember which regions have been observed, infer nearby occupied space, and act u…
Image ReconstructionCollision AvoidanceVisual NavigationWAM-Nav: Asymmetric Latent World-Action Modeling for Unified Visual Navigation
Visual navigation requires generating smooth and collision-free trajectories under complex geometric and physical constraints. Existing reactive policies that directly map observations to actions lack anticipatory reason…
Visual NavigationPlatonicNav: Unveiling Semantic Correspondence in Navigation with Platonic Topological Maps
Embodied visual navigation, where an agent perceives a complex environment and acts to reach a goal from raw sensory input, underpins a wide range of applications such as household service robotics, assistive robotics, a…
Semantic correspondenceVisual NavigationFisher-Preserving Guidance: Training-Free Manifold Constraints for Safe Diffusion Control
Diffusion models are effective for waypoint prediction in visual navigation, but standard sampling and test time guidance can produce unreliable or inefficient trajectories when updates drift off the training manifold. W…
Visual NavigationMASt3R-Nav: WayPixel Navigation in Relative 3D Maps
Visual navigation ability is strongly tied to its underlying representation of the world. Unlike classical 3D maps that require globally-consistent geometry, image- or object-relative topological graphs almost entirely d…
Visual NavigationImage MatchingNavOL: Navigation Policy with Online Imitation Learning
Learning robust navigation policies remains a core challenge in robotics. Offline imitation learning suffers from distribution shift and compounding errors at rollout, while reinforcement learning requires reward enginee…
Zero-shot GeneralizationReinforcement LearningVisual NavigationCross-Modal RGB-D Fusion Transformer for 6D Pose Estimation of Non-Cooperative Spacecraft with Stereo-Derived Depth
On-orbit servicing and active debris removal involving non-cooperative spacecraft require reliable pose estimation to supply accurate position and orientation data for autonomous visual navigation. Learning-based monocul…
6D Pose EstimationVisual NavigationA Pose-only Geometric Constraint for Multi-Camera Pose Adjustment
Multi-camera systems offer rich observation capabilities for visual navigation and 3D scene reconstruction; however, the resulting feature redundancy often compromises computational efficiency. This challenge is particul…
Computational EfficiencyVisual NavigationPose EstimationRectified Schrödinger Bridge Matching for Few-Step Visual Navigation
Visual navigation is a core challenge in Embodied AI, requiring autonomous agents to translate high-dimensional sensory observations into continuous, long-horizon action trajectories. While generative policies based on d…
Visual NavigationDesigning Privacy-Preserving Visual Perception for Robot Navigation Based on User Privacy Preferences
Visual navigation is a fundamental capability of mobile service robots, yet the onboard cameras required for such navigation can capture privacy-sensitive information and raise user privacy concerns. Existing approaches …
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