生成画像から学ぶ視覚的パルクール
Learning Visual Parkour from Generated Images
生成モデルでロボット視点の多様な画像列を合成し、シミュレーションで訓練した四足ロボットが実世界のRGBカメラのみでゼロショットにパルクールを実行できるようにした。
著者: Alan Yu, Ge Yang, Ran Choi, Yajvan Ravan, John Leonard, Phillip Isola
分類: cs.RO
原文アブストラクト
Fast and accurate physics simulation is an essential component of robot learning, where robots can explore failure scenarios that are difficult to produce in the real world and learn from unlimited on-policy data. Yet, it remains challenging to incorporate RGB-color perception into the sim-to-real pipeline that matches the real world in its richness and realism. In this work, we train a robot dog in simulation for visual parkour. We propose a way to use generative models to synthesize diverse and physically accurate image sequences of the scene from the robot's ego-centric perspective. We present demonstrations of zero-shot transfer to the RGB-only observations of the real world on a robot equipped with a low-cost, off-the-shelf color camera. website visit https://lucidsim.github.io
