3d scene understanding 1critic-guided refinement 1diffusion policies 1embodied navigation 1mapless navigation 1reinforcement learning 1sim-to-real transfer 1soft token injection 1vision-language models 1zero-shot transfer 1
From the 2 of 2 linked papers with an AI index.
2 papers
cs.RO2026
NavCMPO: Critic-Guided MeanFlow Policy Optimization for Adaptive Navigation
Junjie An, Yi Wu, Xiao Liu +5
NavCMPO is a two-stage framework for mapless visual navigation that combines few-step diffusion trajectory generation, critic‑guided refinement, and PPO fine‑tuning to improve succ…
cs.RO2026
SoftNav: Injecting 3D Scene Tokens into VLMs for Embodied Navigation
Yi Wu, Junjie An, Xiao Liu +6
SoftNav introduces a method to embed continuous 3D object representations as soft tokens directly into a frozen vision‑language model, enabling efficient embodied navigation with m…