# ScheNav: A Sketch-Guided Embodied Object Navigation Framework

- Source: arXiv cs.RO
- Published: 2026-10-27T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/se90nfc9zppxn08b019p0bat5
- Original: https://arxiv.org/abs/2610.34286

## Summary

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.