LOCOMOTION
RoamFlow：面向图像目标导航的强化对齐一步动作平均流策略
Zixuan Zhang, Yuqi Chen, Junjie Gao, Siyuan Song, Yongzhou Pan, Beichen Wang, Mir Feroskhan
- 发表年份
- 2026
- 访问权限
- 开放获取
摘要
RoamFlow提出了一种基于MeanFlow的生成式导航框架，通过预测平均速度场实现轨迹合成，并采用两阶段训练策略结合专家模仿与强化学习。实验表明该方法在仿真和真实机器人平台上均能实现高效推理并保持强导航性能。
关键词
image-goal navigationgenerative navigationMeanFlowreinforcement learningrobotics
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