RARA: Zero-shot Sim2Real Visual Navigation with Following Foreground Cues

Klaas Kelchtermans,Tinne Tuytelaars,Klaas Kelchtermans,Tinne Tuytelaars

The gap between simulation and the real-world restrains many machine learning breakthroughs in computer vision and reinforcement learning from being applicable in the real world. In this work, we tackle this gap for the specific case of camera-based navigation, formulating it as following a visual cue in the foreground with arbitrary backgrounds. The visual cue in the foreground can often be simul...