Universal Navigation Interface: Robot-Free Data for Wheeled Robot Navigation

arXiv:2609.20114 · cs.RO · Submitted 2026-09-17 · Read on arXiv

cs.RO

Submitted: 2026-09-17

Updated: 2026-09-27

Code: https://github.com/UT-ADL/milrem

Project page: https://universal-nav.github.io

Terminology

• Fine-Tuning — 15× in this paper · explained in 5 episodes
• Adaptation — 4× in this paper · explained in 1 episode
• Universal Manipulation Interface — 4× in this paper
• Ablation — 3× in this paper · explained in 1 episode
• Accuracy — 3× in this paper · explained in 1 episode
• Physical Constraints — 3× in this paper · explained in 7 episodes
• Alignment — 2× in this paper · explained in 1 episode
• Consistency — 2× in this paper · explained in 3 episodes
• Core — 2× in this paper · explained in 2 episodes
• Decoupling — 2× in this paper · explained in 2 episodes
• Benchmark — 1× in this paper · explained in 2 episodes
• Calibration — 1× in this paper · explained in 7 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Multimodal Dataset — 1× in this paper · explained in 2 episodes
• Transformer — 1× in this paper · explained in 2 episodes
• U NIVERSAL NAVIGATION I NTERFACE — 1× in this paper

Sources

• EgoWalk: A Multimodal Dataset for Robot Navigation in the Wild
• GONet: A Semi-Supervised Deep Learning Approach For Traversability Estimation
• NoMaD: Goal Masked Diffusion Policies for Navigation and Exploration
• UMI-on-Air: Embodiment-Aware Guidance for Embodiment-Agnostic Visuomotor Policies
• Depth Anything 3: Recovering the Visual Space from Any Views

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