# Peking University's Dong Hao team proposes One Scan is Enough: embodied navigation post-training with a single scan

- Source: 甲子光年 · 微信公众号
- Published: 2026-11-01T04:33:40.000Z
- RoboHot: https://robohot.news/en/items/sknw0t7r6oub2qkv5mz9b4ti6
- Original: https://mp.weixin.qq.com/s?__biz=MzU5OTI0NTc3Mg==&mid=2247559908&idx=1&sn=d1513b84bf1752539b772f85ba02d25c&chksm=ff9a93a4461e7813e42f47ee507cb24d1944490e4ee1da5f5c9192bb0db5639a6c060fafbd02&scene=126&sessionid=1793547929#rd

## Summary

Dong Hao's team at Peking University has published the paper "One Scan is Enough," which uses a LiDAR-equipped iPhone to scan a target environment once, automatically generates navigation tasks, and uses the reconstructed scene geometry for reinforcement post-training, without needing manual teleoperation demonstrations.

## Why it matters

A single iPhone scan replaces manual demonstrations; 200 real-robot tests give a success-rate comparison from 25% to 85%, showing how post-training costs could fall.