# A Closed-Loop Perception, Decision-Making and Reasoning Mechanism for Human-Like Navigation

arXiv: https://arxiv.org/abs/2207.11901 · HTML: https://mlsanity.com/paper/2207.11901/

## Key facts

- Cited by 6 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 25 Jul 2022.

## Built on by (most cited first, 6 of 6)

- [Agent-Pro: Learning to Evolve via Policy-Level Reflection and Optimization](https://mlsanity.com/paper/2402.17574/) (2024)
- [Self-Contrast: Better Reflection Through Inconsistent Solving Perspectives](https://mlsanity.com/paper/2401.02009/) (2024)
- [Precedent-Enhanced Legal Judgment Prediction with LLM and Domain-Model Collaboration](https://mlsanity.com/paper/2310.09241/) (2023)
- [Multi-View Reasoning: Consistent Contrastive Learning for Math Word Problem](https://mlsanity.com/paper/2210.11694/) (2022)
- [EvoEmpirBench: Dynamic Spatial Reasoning with Agent-ExpVer](https://mlsanity.com/paper/2509.12718/) (2025)
- [An Expression Tree Decoding Strategy for Mathematical Equation Generation](https://mlsanity.com/paper/2310.09619/) (2023)

## Abstract (arXiv)

Reliable navigation systems have a wide range of applications in robotics and autonomous driving. Current approaches employ an open-loop process that converts sensor inputs directly into actions. However, these open-loop schemes are challenging to handle complex and dynamic real-world scenarios due to their poor generalization. Imitating human navigation, we add a reasoning process to convert actions back to internal latent states, forming a two-stage closed loop of perception, decision-making, and reasoning. Firstly, VAE-Enhanced Demonstration Learning endows the model with the understanding of basic navigation rules. Then, two dual processes in RL-Enhanced Interaction Learning generate reward feedback for each other and collectively enhance obstacle avoidance capability. The reasoning model can substantially promote generalization and robustness, and facilitate the deployment of the algorithm to real-world robots without elaborate transfers. Experiments show our method is more adaptable to novel scenarios compared with state-of-the-art approaches.