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