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arXiv · 2609.16737

Visual Cue Guided Video Planning for Generalizable Robot Navigation

Hojin Lee·Sizhe Lester Li·Maximilian Hilger·Susie Lu·Achim J. Lilienthal·Vincent Sitzmann·Daniel A. Duecker
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Abstract

Generative video models can serve as a promising backbone for robot navigation by predicting future observations as video plans. Recent approaches often condition video planning on short-horizon guidance and recover geometric waypoints through scene reconstruction, leaving longer-horizon planning and precise video-to-action translation less explored. We present CueNav, a video model-based navigation framework combining visual cue guided video planning with an embodiment-specific Inverse-Dynamics Model (IDM). As visual cues, we use a Bird's-Eye View (BEV) map to convey global task context and retain part of the robot body in the egocentric observation to expose embodiment context. These cues guide the video planner, while the IDM translates dense flow fields extracted from the video plan into robot actions. With the visual cue encoding global task context, CueNav achieves nearly 2x higher success in maze navigation than planning without the cue. The body-aware view with the IDM enables precise navigation with 70% success in a narrow passage where comparison methods largely fail to complete the task. We further demonstrate zero-shot semantic-conditioned navigation and deployment of the same video planner across different robot platforms. Our results show that visual cue-guided video planning with embodiment-specific action grounding paves the way toward a generalizable navigation framework for longer-horizon planning and embodiment-aware control. Additional results and code are available on our project website: https://cuenav.github.io.

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Hojin Lee, Sizhe Lester Li, Maximilian Hilger, Susie Lu, Achim J. Lilienthal, Vincent Sitzmann, Daniel A. Duecker. 2026-09-16. Visual Cue Guided Video Planning for Generalizable Robot Navigation. https://arxiv.org/abs/2609.16737

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