mlsanityData to 7 Oct 2026

Scaling Local Control to Large-Scale Topological Navigation

arXiv 1909.12329 ↗First posted 26 Sep 2019cs.ROcited by 37

Not on the map. Why?

Abstract (arXiv)

Visual topological navigation has been revitalized recently thanks to the advancement of deep learning that substantially improves robot perception. However, the scalability and reliability issue remain challenging due to the complexity and ambiguity of real world images and mechanical constraints of real robots. We present an intuitive solution to show that by accurately measuring the capability of a local controller, large-scale visual topological navigation can be achieved while being scalable and robust. Our approach achieves state-of-the-art results in trajectory following and planning in large-scale environments. It also generalizes well to real robots and new environments without retraining or finetuning.

Key facts. Cited by 37 papers in the map (data through 7 Oct 2026). First posted on arXiv 26 Sep 2019.

Builds on

No reference list yet.

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 9; 2022: 10; 2023: 7; 2024: 1; 2025: 8; 2026: 2.

37 papers.

Sort:

By area:

  1. 2022LM-Nav: Robotic Navigation with Large Pre-Trained Models of Language, Vision, and Actioncited by 435
  2. 2023NoMaD: Goal Masked Diffusion Policies for Navigation and Explorationcited by 234
  3. 2023ViNT: A Foundation Model for Visual Navigationcited by 210
  4. 2022GNM: A General Navigation Model to Drive Any Robotcited by 161
  5. 2022Bridging the Gap Between Learning in Discrete and Continuous Environments for Vision-and-Language Navigationcited by 127
  6. 2021Rapid Exploration for Open-World Navigation with Latent Goal Modelscited by 118
  7. 2022Weakly-Supervised Multi-Granularity Map Learning for Vision-and-Language Navigationcited by 86
  8. 2023SACSoN: Scalable Autonomous Control for Social Navigationcited by 60
  9. 2022ViKiNG: Vision-Based Kilometer-Scale Navigation with Geographic Hintscited by 55
  10. 2021SASRA: Semantically-aware Spatio-temporal Reasoning Agent for Vision-and-Language Navigation in Continuous Environmentscited by 48
  11. 2021Hierarchical Object-to-Zone Graph for Object Navigationcited by 34
  12. 2025CAST: Counterfactual Labels Improve Instruction Following in Vision-Language-Action Modelscited by 28
25 more
  1. 2022Last-Mile Embodied Visual Navigationcited by 25
  2. 2024RoboHop: Segment-based Topological Map Representation for Open-World Visual Navigationcited by 25
  3. 2022Phone2Proc: Bringing Robust Robots Into Our Chaotic Worldcited by 24
  4. 2022Learning Active Camera for Multi-Object Navigationcited by 20
  5. 2021Learned Visual Navigation for Under-Canopy Agricultural Robotscited by 18
  6. 2022ExAug: Robot-Conditioned Navigation Policies via Geometric Experience Augmentationcited by 17
  7. 2021C-Planning: An Automatic Curriculum for Learning Goal-Reaching Taskscited by 15
  8. 2021Conflict Avoidance in Social Navigation -- a Surveycited by 13
  9. 2025Learning to Drive Anywhere with Model-Based Reannotationcited by 12
  10. 2023PlaceNav: Topological Navigation through Place Recognitioncited by 11
  11. 2023DRAGON: A Dialogue-Based Robot for Assistive Navigation with Visual Language Groundingcited by 9
  12. 2021Lifelong Topological Visual Navigationcited by 7
  13. 2023One-4-All: Neural Potential Fields for Embodied Navigationcited by 7
  14. 2025TANGO: Traversability-Aware Navigation with Local Metric Control for Topological Goalscited by 7
  15. 2025ObjectReact: Learning Object-Relative Control for Visual Navigationcited by 5
  16. 2022PALMER: Perception-Action Loop with Memory for Long-Horizon Planningcited by 4
  17. 2021Hierarchically Integrated Models: Learning to Navigate from Heterogeneous Robotscited by 3
  18. 2025MM-Nav: Multi-View VLA Model for Robust Visual Navigation via Multi-Expert Learningcited by 3
  19. 2021Learning for Visual Navigation by Imagining the Successcited by 2
  20. 2023Building Category Graphs Representation with Spatial and Temporal Attention for Visual Navigationcited by 2
  21. 2025Synthetic vs. Real Training Data for Visual Navigationcited by 1
  22. 2026MASt3R-Nav: WayPixel Navigation in Relative 3D Mapscited by 1
  23. 2025DynaNav: Dynamic Feature and Layer Selection for Efficient Visual Navigationcited by 0
  24. 2025TOPO-Bench: An Open-Source Topological Mapping Evaluation Framework with Quantifiable Perceptual Aliasingcited by 0
  25. 2026PixelLoop: Shortcut Topological Navigation with Pixel-Level Loopscited by 0