@inproceedings{fang2026stagenav,
  title = {StageNav: A Diagnostic Benchmark and State-Aligned RL Framework for Long-Horizon Navigation},
  author = {Fang, Chengjie and Yang, Yujia and Liu, Yu and Sun, Ziyu and Xu, Jungang},
  booktitle = {IROS},
  year = {2026},
  note = {Accepted}
}