StepNav: Structured Trajectory Priors for Efficient and Multimodal Visual Navigation
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arXiv
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| Auteurs principaux: | , , , , , , |
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| Format: | Preprint |
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2026
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| _version_ | 1866910009645858816 |
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| author | Luo, Xubo Wu, Aodi Han, Haodong Wan, Xue Zhang, Wei Shu, Leizheng Wang, Ruisuo |
| author_facet | Luo, Xubo Wu, Aodi Han, Haodong Wan, Xue Zhang, Wei Shu, Leizheng Wang, Ruisuo |
| contents | Visual navigation is fundamental to autonomous systems, yet generating reliable trajectories in cluttered and uncertain environments remains a core challenge. Recent generative models promise end-to-end synthesis, but their reliance on unstructured noise priors often yields unsafe, inefficient, or unimodal plans that cannot meet real-time requirements. We propose StepNav, a novel framework that bridges this gap by introducing structured, multimodal trajectory priors derived from variational principles. StepNav first learns a geometry-aware success probability field to identify all feasible navigation corridors. These corridors are then used to construct an explicit, multi-modal mixture prior that initializes a conditional flow-matching process. This refinement is formulated as an optimal control problem with explicit smoothness and safety regularization. By replacing unstructured noise with physically-grounded candidates, StepNav generates safer and more efficient plans in significantly fewer steps. Experiments in both simulation and real-world benchmarks demonstrate consistent improvements in robustness, efficiency, and safety over state-of-the-art generative planners, advancing reliable trajectory generation for practical autonomous navigation. The code has been released at https://github.com/LuoXubo/StepNav. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2602_02590 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | StepNav: Structured Trajectory Priors for Efficient and Multimodal Visual Navigation Luo, Xubo Wu, Aodi Han, Haodong Wan, Xue Zhang, Wei Shu, Leizheng Wang, Ruisuo Robotics Visual navigation is fundamental to autonomous systems, yet generating reliable trajectories in cluttered and uncertain environments remains a core challenge. Recent generative models promise end-to-end synthesis, but their reliance on unstructured noise priors often yields unsafe, inefficient, or unimodal plans that cannot meet real-time requirements. We propose StepNav, a novel framework that bridges this gap by introducing structured, multimodal trajectory priors derived from variational principles. StepNav first learns a geometry-aware success probability field to identify all feasible navigation corridors. These corridors are then used to construct an explicit, multi-modal mixture prior that initializes a conditional flow-matching process. This refinement is formulated as an optimal control problem with explicit smoothness and safety regularization. By replacing unstructured noise with physically-grounded candidates, StepNav generates safer and more efficient plans in significantly fewer steps. Experiments in both simulation and real-world benchmarks demonstrate consistent improvements in robustness, efficiency, and safety over state-of-the-art generative planners, advancing reliable trajectory generation for practical autonomous navigation. The code has been released at https://github.com/LuoXubo/StepNav. |
| title | StepNav: Structured Trajectory Priors for Efficient and Multimodal Visual Navigation |
| topic | Robotics |
| url | https://arxiv.org/abs/2602.02590 |