# MetricNet: Recovering Metric Scale in Generative Navigation Policies

arXiv: https://arxiv.org/abs/2509.13965 · HTML: https://mlsanity.com/paper/2509.13965/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Builds on 33 of its 46 references that are in the map.
- First posted on arXiv 17 Sep 2025.

## Builds on (most cited first, 30 of 33)

- [BERT: Pre-training of Deep Bidirectional Transformers for Language Understanding](https://mlsanity.com/paper/1810.04805/) (2018)
- [Denoising Diffusion Probabilistic Models](https://mlsanity.com/paper/2006.11239/) (2020)
- [DINOv2: Learning Robust Visual Features without Supervision](https://mlsanity.com/paper/2304.07193/) (2023)
- [EfficientNet: Rethinking Model Scaling for Convolutional Neural Networks](https://mlsanity.com/paper/1905.11946/) (2019)
- [Flow Matching for Generative Modeling](https://mlsanity.com/paper/2210.02747/) (2022)
- [SGDR: Stochastic Gradient Descent with Warm Restarts](https://mlsanity.com/paper/1608.03983/) (2016)
- [Diffusion Policy: Visuomotor Policy Learning via Action Diffusion](https://mlsanity.com/paper/2303.04137/) (2023)
- [Depth Anything V2](https://mlsanity.com/paper/2406.09414/) (2024)
- [Matterport3D: Learning from RGB-D Data in Indoor Environments](https://mlsanity.com/paper/1709.06158/) (2017)
- [Habitat: A Platform for Embodied AI Research](https://mlsanity.com/paper/1904.01201/) (2019)
- [Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age](https://mlsanity.com/paper/1606.05830/) (2016)
- [Navigation World Models](https://mlsanity.com/paper/2412.03572/) (2024)
- [NoMaD: Goal Masked Diffusion Policies for Navigation and Exploration](https://mlsanity.com/paper/2310.07896/) (2023)
- [Real-Time Execution of Action Chunking Flow Policies](https://mlsanity.com/paper/2506.07339/) (2025)
- [Denoising Diffusion Bridge Models](https://mlsanity.com/paper/2309.16948/) (2023)
- [GNM: A General Navigation Model to Drive Any Robot](https://mlsanity.com/paper/2210.03370/) (2022)
- [Socially Compliant Navigation Dataset (SCAND): A Large-Scale Dataset of Demonstrations for Social Navigation](https://mlsanity.com/paper/2203.15041/) (2022)
- [Rapid Exploration for Open-World Navigation with Latent Goal Models](https://mlsanity.com/paper/2104.05859/) (2021)
- [StreamVLN: Streaming Vision-and-Language Navigation via SlowFast Context Modeling](https://mlsanity.com/paper/2507.05240/) (2025)
- [SACSoN: Scalable Autonomous Control for Social Navigation](https://mlsanity.com/paper/2306.01874/) (2023)
- [ViKiNG: Vision-Based Kilometer-Scale Navigation with Geographic Hints](https://mlsanity.com/paper/2202.11271/) (2022)
- [PoliFormer: Scaling On-Policy RL with Transformers Results in Masterful Navigators](https://mlsanity.com/paper/2406.20083/) (2024)
- [FLaRe: Achieving Masterful and Adaptive Robot Policies with Large-Scale Reinforcement Learning Fine-Tuning](https://mlsanity.com/paper/2409.16578/) (2024)
- [TartanDrive: A Large-Scale Dataset for Learning Off-Road Dynamics Models](https://mlsanity.com/paper/2205.01791/) (2022)
- [NavDP: Learning Sim-to-Real Navigation Diffusion Policy with Privileged Information Guidance](https://mlsanity.com/paper/2505.08712/) (2025)
- [ViPlanner: Visual Semantic Imperative Learning for Local Navigation](https://mlsanity.com/paper/2310.00982/) (2023)
- [GONet: A Semi-Supervised Deep Learning Approach For Traversability Estimation](https://mlsanity.com/paper/1803.03254/) (2018)
- [NaviDiffusor: Cost-Guided Diffusion Model for Visual Navigation](https://mlsanity.com/paper/2504.10003/) (2025)
- [Prior Does Matter: Visual Navigation via Denoising Diffusion Bridge Models](https://mlsanity.com/paper/2504.10041/) (2025)
- [DTG : Diffusion-based Trajectory Generation for Mapless Global Navigation](https://mlsanity.com/paper/2403.09900/) (2024)

## Built on by (most cited first, 3 of 3)

- [Can Vision Foundation Models Navigate? Zero-Shot Real-World Evaluation and Lessons Learned](https://mlsanity.com/paper/2603.25937/) (2026)
- [VANDERER: Map-Free Exploration using Future-Aware and Visual-Curiosity-Guided Diffusion Policy](https://mlsanity.com/paper/2606.14879/) (2026)
- [VISTA: Scale-Aware Visual Navigation via Action History Conditioning](https://mlsanity.com/paper/2606.17294/) (2026)

## Abstract (arXiv)

Generative navigation policies have made rapid progress in improving end-to-end learned navigation. Despite their promising results, this paradigm has two structural problems. First, the sampled trajectories exist in an abstract, unscaled space without metric grounding. Second, the control strategy discards the full path, instead moving directly towards a single waypoint. This leads to short-sighted and unsafe actions, moving the robot towards obstacles that a complete and correctly scaled path would circumvent. To address these issues, we propose MetricNet, an effective add-on for generative navigation that predicts the metric distance between waypoints, grounding policy outputs in metric coordinates. We evaluate our method in simulation with a new benchmarking framework and show that executing MetricNet-scaled waypoints significantly improves both navigation and exploration performance. Beyond simulation, we further validate our approach in real-world experiments. Finally, we propose MetricNav, which integrates MetricNet into a navigation policy to guide the robot away from obstacles while still moving towards the goal.