MVP-Nav: Multi-layer Value Map Planner Navigator
Zero-shot Object Goal Navigation (ZSON) with RGB-only perception poses a fundamental challenge for embodied agents, as the absence of explicit depth information introduces severe physical uncertainty and semantic-physical misalignment. Existing approaches either rely on high-level semantic reasoning without geometric grounding or learn end-to-end policies that lack explicit physical constraints, often resulting in semantically plausible but physically unsafe behaviors. In this paper, we propose MVP-Nav, a physical-aware RGB-only navigation framework that aligns perception, planning, and control with the real 3D world. MVP-Nav reconstructs explicit physical occupancy from monocular observa...
| Authors | Wenyuan Xie, Shaokai Wu, Yijin Zhou et al. |
|---|---|
| Primary category | cs.RO |
| Published | 30 June 2026 |
| Last updated at source | 30 June 2026 |
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