2026
D-CLING: Prior-Preserving Depth-Conditioned Fine-Tuning for Navigation Foundation Models
ICRA 2026poster
Navigation Foundation Models (NFMs) trained on large, cross-embodied datasets have demonstrated powerful generalizability on various scenarios. Adopting in-domain fine-tuning upon an NFM efficiently calibrates the visuomotor policy, promising further improvement even in a novel scenario. However, th…