MP3D

Adaptive safety margins for visual robot navigation via context-conditioned safety critic

A new arXiv paper proposes a context-conditioned safety critic that learns adaptive clearance preferences for ranking diffusion-based trajectory proposals in indoor robot navigation. The critic decomposes into safety, efficiency, and distance-constraint matching terms, trained with privileged ESDF geometry in simulation and distilled into a perception-only selector via teacher-student learning. The method achieves top success rate and SPL on PointGoal navigation benchmarks (HM3D, MP3D) and transfers zero-shot to a Unitree G1 humanoid robot without task-specific tuning.