CanonNav: Disentangling Navigation Behavior from Camera Geometry in Cross-Platform Visual Navigation
Research
Source: arXiv cs.ROPublish time unverified
arXiv:2608.30242v1 Announce Type: new Abstract: While visual navigation has advanced through imitation learning from cross-platform demonstrations, fully leveraging such data remains challenging. First, directly learning from image-trajectory pairs entangles navigation behavior with platform-dependent camera geometry. This hinders consistent learning by forcing the policy to implicitly infer camera geometry from visual observations, an inherently ill-posed problem.