VISTA: Scale-Aware Visual Navigation via Action History Conditioning
Vision Navigation Foundation Models (VNMs) promise end-to-end learned navigation policies capable of zero-shot deployment across diverse embodiments and environments. To maintain generality, many vision-based navigation models predict normalized actions. However, this normalization introduces a critical deployment vulnerability: applying different scaling factors to the same normalized trajectory alters its physical geometry, which degrades navigation performance and increases collision risks. We address this vulnerability by conditioning the model on normalized action histories alongside image observations, providing explicit context on the relationship between the model's predictions an...
| Authors | Maeva Guerrier, Koki Kobayashi, Simon Roy et al. |
|---|---|
| Primary category | cs.RO |
| Published | 15 June 2026 |
| Last updated at source | 15 June 2026 |
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