Strictly speaking: Yes.

In actuality, probably not. Most mechanics are not going to even blink if they see a CAI on a car. They know that it is just a different tube, different filter, and probably better than stock. It would have to be really poorly installed for most mechanics to say anything about it.

But, if you're concerned in any way about it, remove it, and restore the car to stock before taking it in for warranty work. I kept every little part that I took off for just such emergencies.