# TransNav: Transformer-Based End-to-End Static and Dynamic Obstacle Avoidance for Quadrotors

- Source: arXiv cs.RO
- Published: 2026-10-19T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/tvwpmzejewu04dzbeahcjf89i
- Original: https://arxiv.org/abs/2610.23635

## Summary

TransNav proposes a Transformer-based end-to-end navigation method for quadrotors that achieves obstacle avoidance in environments with mixed static and dynamic obstacles. The method uses a patch-based point-cloud encoding scheme, integrates perception and navigation into a single architecture, and directly predicts a finite-horizon action sequence and executes the first action. It also introduces a lightweight point-mass dynamics model that optimizes trajectory-level costs through numerical gradient propagation, enabling unsupervised training without expert demonstrations.