HorizonNav: Geometry-Guided Video Diffusion for Anticipatory 3D Robot Navigation

We present HorizonNav, a video diffusion-based framework for anticipatory robot navigation that transforms a single RGB image and a text prompt into a geometrically aligned representation of plausible surrounding 3D space. Given the initial observation and a textual description of the reconstruction objective, a vision-language model, guided by designed instructions, interprets the scene and constructs structured prompts for a video diffusion model.

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