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Dong Hao's team at Peking University releases paper on post-training for One Scan navigation
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Dong Hao's team at Peking University has published the paper "One Scan is Enough," proposing a navigation-scene post-training method: after scanning a target environment once with a LiDAR-equipped iPhone, the system can automatically generate navigation tasks and use geometric information from the reconstructed scene for reinforcement post-training, without the need to collect manual teleoperation demonstrations in the target environment. The method relies on the Scan2Instruction compiler and requires necessary manual scene calibration before it can use the reconstructed environment to automatically generate training tasks. In 200 real-robot tests across five real indoor environments, the success rate was 25% for the navigation model without scene adaptation, 49% after fine-tuning with manual demonstrations, and 85% with the new method.
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- Peking University's Dong Hao team proposes One Scan is Enough: embodied navigation post-training with a single scan
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.
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