Abstract
End-to-end navigation in cluttered environments relies on compact visual representations to support collision avoidance and goal-directed motion. Existing methods typically learn these representations jointly with the policy or through observation reconstruction, which does not explicitly specify what information the representation should preserve. Moreover, they are usually evaluated with a single downstream policy learner, although the benefit of a representation may depend on how the policy is learned. It therefore remains unclear how different representation-learning objectives affect downstream navigation performance and robustness. This work proposes DeRep, a navigation-oriented representation-learning method that combines local bird's-eye-view reachability supervision with depth reconstruction. To compare representation objectives under controlled conditions, we pretrain encoders with a common architecture and freeze them during downstream learning. We evaluate the representations using a linear policy probe, flow-matching imitation learning, and reinforcement learning with PPO. DeRep achieves the lowest linear policy probe prediction error and outperforms reconstruction alone across all six tested PPO conditions. In imitation learning, both reachability-based objectives achieve higher mean success rates than reconstruction alone, with similar mean success rates between the reachability-only and joint objectives. These results demonstrate consistent benefits of incorporating reachability supervision into depth representation pretraining across different downstream learning methods and evaluation conditions. We further deploy the PPO policy with the frozen DeRep encoder in Gazebo and on a physical quadrotor without fine-tuning, demonstrating its capability for zero-shot sim-to-sim and sim-to-real transfer.
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URL
https://arxiv.org/abs/2611.13499
