Robust Scene Transfer for PointGoal Navigation via Privileged Sensor Guided Contrastive Learning
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, and used as the perceptual backbone for reinforcement learning, decoupling representation learning from policy optimization. We further introduce a cross-stage domain mismatch between representation pretraining and policy learning to suppress enviro...
| Authors | Amirhossein Zhalehmehrabi, Tiziano Tezze, Alberto Castelini et al. |
|---|---|
| Primary category | cs.CV |
| Published | 3 June 2026 |
| Last updated at source | 6 August 2026 |
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