arxivcs.RO2026-07-17
RAVEN: Reinforcement-Adaptive Visibility-Graph Planning for Robust Humanoid Navigation with Collision-Free MPC
Ruochen Hou, Shiqi Wang, Beom Jun Kim, Hanzhang Fang, Mehak Singal, Dennis W. Hong
Humanoid navigation in dynamic environments requires long-horizon planning while respecting short-horizon dynamic and safety constraints. Classical visibility-graph planners combined with model predictive control (MPC) can efficiently generate collision-free trajectories, but the…