SuReNav: Superpixel Graph-based Constraint Relaxation for Navigation in Over-constrained Environments

In three linesSuReNav proposes a superpixel graph-based navigation method for over-constrained environments. The system combines constraint map generation, relaxation via GNN trained on human demonstrations, and interleaved execution. Evaluated on 2D/3D OpenStreetMap maps and Spot quadruped robot, it achieves highest human-likeness score while balancing safety and efficiency.

Summary generated by Claude — human-verified