Unlabeled egocentric video can be converted into obstacle-aware goal-conditioned navigation supervision through monocular geometry, ESDFs, and MPPI-planned trajectories.
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VEGA: Learning Navigation VLAs from In-the-Wild Egocentric Video with Geometric Trajectory Supervision
Unlabeled egocentric video can be converted into obstacle-aware goal-conditioned navigation supervision through monocular geometry, ESDFs, and MPPI-planned trajectories.