| --- |
| pipeline_tag: robotics |
| tags: |
| - model_hub_mixin |
| - pytorch_model_hub_mixin |
| --- |
| |
| # PointGoal Navigation Policy (FrodoBots8K) |
|
|
| PointGoal navigation policy trained with the FrodoBots8K dataset, as presented in the paper [Data Scaling for Navigation in Unknown Environments](https://arxiv.org/abs/2601.09444). |
|
|
| [**Project Page**](https://lasuomela.github.io/navigation_scaling/) | [**Code**](https://github.com/lasuomela/NavigationScaling) |
|
|
| ## Authors |
| Lauri Suomela, Naoki Takahata, Sasanka Kuruppu Arachchige, Harry Edelman, Joni-Kristian Kämäräinen |
|
|
| ## Model Description |
| This model is an end-to-end, map-free visual navigation policy designed for sidewalk robots. It was trained using imitation learning on crowd-sourced data to achieve zero-shot navigation in unknown environments. The research demonstrates that data diversity (geographical variety) is significantly more important than data quantity for real-world generalization. |
|
|
| - **Task:** Zero-shot PointGoal navigation. |
| - **Generalization:** Evaluated across 125 km of autonomous driving in four different countries. |
| - **Key Finding:** Doubling geographical locations in training decreases navigation errors by ~15%, while adding more data from existing locations leads to rapid performance saturation. |
|
|
| ## Details |
|
|
| ### Architecture |
| - **Type:** MLP-BC |
| - **Visual Encoder:** [Theia encoder](https://huggingface.co/theaiinstitute/theia-base-patch16-224-cddsv) |
| - **Action Head:** MLP action head |
|
|
| ### Training Dataset |
| - **Dataset:** FrodoBots8K (subset) |
| - **Scale:** 1024 total trajectories (~32 hours of data) from 32 distinct geographical locations. |
|
|
| ## Usage |
| The model is built for deployment on EarthRover Zero robots using ROS2. For detailed instructions on environment setup, training, and deployment, please refer to the [official GitHub repository](https://github.com/lasuomela/NavigationScaling). |
|
|
| ## Citation |
| If you use this model or code in your research, please cite: |
| ```bibtex |
| @misc{suomela2026data_scaling, |
| title={Data Scaling for Navigation in Unknown Environments}, |
| author={Suomela, Lauri and Takahata, Naoki and Kuruppu Arachchige, Sasanka and Edelman, Harry and Kämäräinen, Joni-Kristian}, |
| journal={arXiv:2601.09444}, |
| year={2026}, |
| } |
| ``` |
