IndoorSim-to-OutdoorReal: Learning to Navigate Outdoors without any Outdoor Experience
All videos shown are of autonomous navigation runs with Spot using a policy trained solely in simulated indoor environments.
Short-Range Indoor Simulation Navigation
We train navigation policies for Spot entirely in simulated indoor environments using short-range trajectories (~8m).
Episode #1
Episode #2
Long-Range Outdoor Real-World Navigation
We zero-shot transfer the policy trained in simulation to the real-world outdoors.
Route #1
Satellite Map
Context Map
Overlay Map
Context-Map Policy
Total Distance Travelled: 65.19 m
No-Context Policy
Total Distance Travelled: 16.65 m
Route #2
Satellite Map
Context Map
Overlay Map
Context-Map Policy
Total Distance Travelled: 111.87 m
No-Context Policy
Total Distance Travelled: 11.46 m
Route #3
Satellite Map
Context Map
Overlay Map
Context-Map Policy
Total Distance Travelled: 130.09 m
No-Context Policy
Total Distance Travelled: 5.11 m