Article

ScheNav: A Sketch-Guided Embodied Object Navigation Framework

The authors propose ScheNav, a closed-loop navigation framework that turns rough sketch guidance into exploration and stopping decisions. Its core is SchemaField, a learning module that fuses guidance with accumulated observations and predicts spatial value fields. A supporting data pipeline converts 2D floorplans into navigation training environments, producing the Furnished-RPLAN dataset, which contains over 33k furnished layouts with paired navigation episodes and noise-controllable sketches.

Part of the event: ScheNav: Sketch-Guided Embodied Navigation Framework Released

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