RAVEN: Reinforcement-Adaptive Visibility-Graph Planning for Robust Humanoid Navigation with Collision-Free MPC

• URL: http://arxiv.org/abs/2607.15701v1
• Date: Fri, 17 Jul 2026 07:23:54 GMT
• Title: RAVEN: Reinforcement-Adaptive Visibility-Graph Planning for Robust Humanoid Navigation with Collision-Free MPC
• Abstract summary: We propose RAVEN, a hierarchical reinforcement learning framework for robust humanoid navigation.<n>RAVEN employs RL to adapt the geometric construction of a visibility-graph planner by modifying obstacle inflation and related graph parameters.<n>Results demonstrate reduced overshoot near obstacles, improved robustness in narrow passages, and more reliable navigation under delay and noise.
• Score: 11.923992019929495
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Humanoid navigation in dynamic environments requires long-horizon planning while respecting short-horizon dynamic and safety constraints. Classical visibility-graph planners combined with model predictive control (MPC) can efficiently generate collision-free trajectories, but their performance depends on manually tuned parameters and accurate system modeling. In real robotic systems, control delays, state-estimation noise, and locomotion uncertainties can cause overshoot and constraint violations even when the nominal path is geometrically optimal. We propose RAVEN, a hierarchical reinforcement learning (RL)-MPC framework for robust humanoid navigation. Unlike prior approaches that use learning to tune cost weights or replace planning entirely, RAVEN employs RL to adapt the geometric construction of a visibility-graph planner by modifying obstacle inflation and related graph parameters. By directly reshaping the free-space geometry, the learned planner alters the topology of the global path to compensate for delay and tracking imperfections. A collision-free MPC layer then tracks the planned trajectory while explicitly enforcing velocity bounds and obstacle-avoidance constraints. By training under realistic delays and observation noise, RAVEN learns planning adaptations that improve robustness while retaining explicit long-horizon geometric planning and constrained optimization, in contrast to end-to-end learning approaches. We evaluate RAVEN against a manually tuned visibility-graph MPC baseline and a pure RL navigation policy. Results demonstrate reduced overshoot near obstacles, improved robustness in narrow passages, and more reliable navigation under delay and noise. These findings indicate that reinforcement-adaptive graph construction combined with constrained MPC provides an effective and interpretable alternative to end-to-end learning for robust humanoid navigation.

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