Bird's Eye View Based Pretrained World model for Visual Navigation

arXiv:2310.18847v2 Announce Type: replace-cross
Abstract: Sim2Real transfer has gained popularity because it helps transfer from inexpensive simulators to real world. This paper presents a novel system that fuses components in a traditional World Model into a robust system, trained entirely within a simulator, that Zero-Shot transfers to the real world. To facilitate transfer, we use an intermediary representation that is based on \textit{Bird's Eye View (BEV)} images. Thus, our robot learns to navigate in a simulator by first learning to …

arxiv bird cs.lg cs.ro navigation type view visual visual navigation world world model