arxivcs.RO2026-06-29
RoamFlow: Reinforcement-Aligned One-Step Action MeanFlow Policy for Image-Goal Navigation
Zixuan Zhang, Yuqi Chen, Junjie Gao, Siyuan Song, Yongzhou Pan, Beichen Wang, et al.
Image-goal navigation is a key challenge in embodied robotics, where an agent must reach a target specified solely by a goal image. While existing reinforcement learning approaches map perceptual observations directly to actions, they struggle to model long-horizon dependencies,…