arxivcs.RO2026-07-13
AutoPath: Learning Transferable Goal-Conditioned Stochastic Path Prior for Safe Navigation Without Human Demonstrations
Ziyang Zhang, Boyang Zhou, Zesong Yang, Haocheng Peng, Zeming Gai, Xiao Liang, et al.
Real-time navigation in cluttered and dynamic environments requires collision-free and dynamically feasible motion under limited perception. However, feasible navigation behaviors are inherently multimodal because multiple paths may exist around obstacles. In this paper, we formu…