Author

César Cadena

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#machine learning Preprint Oct 2026

RangeNav: Task-Aligned LiDAR Range-Image Pretraining for Robot Navigation

RangeNav is presented, a compact (183k parameters) LiDAR range-image encoder pretrained entirely on synthetic data that demonstrates robust navigation through dense crowds, low-light settings, and construction zones where limited-field-of-view depth policies struggle.

Samuel Foo Enze, Manthan Patel, Fan Yang et al. · 0 citations

Preprint Aug 2026

Learning Agile Perceptive Traversal of Sparse 3D Structures for Humanoids

A reinforcement-learning-based perceptive control system that operates directly on observations from a head-mounted solid-state lidar, consuming the raw lidar scan through an attention-based encoder with recurrent memory to extract task-relevant geometry from the sparse returns.

Efe Ongan, Chong Zhang, Bo-Yang Sun et al. · 0 citations