arxivcs.RO2026-07-16
NavCMPO: Critic-Guided MeanFlow Policy Optimization for Adaptive Navigation
Junjie An, Yi Wu, Xiao Liu, Yiqun Zhou, Yuechen Wu, Xiaoqing Guan, et al.
End-to-end diffusion-based policies have demonstrated strong performance in mapless visual navigation, but their iterative denoising process introduces substantial inference latency, while behavior cloning limits performance to the quality of expert demonstrations. We present Nav…