Update 10/2/14: The initial beta APK (1.0-124) started showing an expiration message and stopped working, but a newer beta APK (1.0-172) has popped up. We've validated its legitimacy, and it indeed no longer shows the expiration message. Download it here (thanks, Branko Kostic!).
Last month Nokia announced that it would release a version of its highly-regarded HERE mapping and navigation app for Android, but only to licensed partners, starting with Samsung.