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CanonNav: Disentangling Navigation Behavior from Camera Geometry in Cross-Platform Visual Navigation

arXiv · AI, language, vision and robotics · article · Aug 31, 2026 · UTC

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. Second, imitation learning from demonstrated trajectories captures the expert's chosen motion but leaves the intermediate decisions underlying that motion implicit. To address th

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