# RetroNav: A Self-Evolving Lifelong Navigation Framework Combining Scene Retrospection and Retry

- Source: arXiv cs.RO
- Published: 2026-10-27T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/b168sb8st8isvpsptrswdkcmo
- Original: https://arxiv.org/abs/2610.35172

## Summary

RetroNav is a training-free lifelong navigation framework that integrates navigation, memory accumulation, and failure reflection, achieving state-of-the-art performance on five navigation benchmarks. It uses a unified memory system to link geometric and semantic scene knowledge with historical navigation experience, distinguishing objective observations from task-dependent interpretations. After each navigation attempt, an independent evaluator determines whether a retry is needed; when it is, a retrospection agent uses scene evidence to generate a retry brief. The authors say the method will be open-sourced.