MacroNav: Multi-Task Context Representation Learning Enables Efficient Navigation in Unknown Environments

TL;DR

MacroNav introduces a multi-task self-supervised context encoder combined with graph reasoning, enabling efficient, real-time navigation in unknown environments with improved success rates and computational efficiency.

Contribution

The paper presents MacroNav, a novel framework that integrates a lightweight, multi-scale spatial context encoder with graph-based reasoning for enhanced navigation.

Findings

Significant improvements in Success Rate and SPL over state-of-the-art methods.

Effective environmental understanding demonstrated in real-world deployments.

Achieves high performance with low computational cost.

Abstract

Autonomous navigation in unknown environments requires multi-scale spatial understanding that captures geometric details, topological connectivity, and global structure to support high-level decision making under partial observability. Existing approaches struggle to efficiently capture such multi-scale spatial understanding while maintaining low computational cost for real-time navigation. We present MacroNav, a learning-based navigation framework featuring two key components: (1) a lightweight context encoder trained via multi-task self-supervised learning to capture multi-scale, navigation-centric spatial representations; and (2) a reinforcement learning policy that seamlessly integrates these representations with graph-based reasoning for efficient action selection. Extensive experiments demonstrate the context encoder's effective and robust environmental understanding. Real-world deployments further validate MacroNav's effectiveness, yielding significant gains over state-of-the-art navigation methods in both Success Rate (SR) and Success weighted by Path Length (SPL), with superior computational efficiency.