PointGoal Navigation
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Robust Scene Transfer for PointGoal Navigation via Privileged Sensor Guided Contrastive Learning
arXiv:2606.05506v1 Announce Type: new Abstract: We propose a sensor-guided adaptive contrastive learning framework for visual representation learning in PointGoal navigation. During training, privileged LiDAR sensing guides the contrastive objective through a geometry-aware similarity metric and adaptive temperature scaling, encouraging visual embeddings to capture navigation-relevant structure rather than scene-specific appearance. The resulting encoder is pretrained independently, frozen,...