Learning Visual Locomotion with Cross-Modal Supervision
Antonio Loquercio,Ashish Kumar,Jitendra Malik,Antonio Loquercio,Ashish Kumar,Jitendra Malik
In this work, we show how to learn a visual walking policy that only uses a monocular RGB camera and proprioception. Since simulating RGB is hard, we necessarily have to learn vision in the real world. We start with a blind walking policy trained in simulation. This policy can traverse some terrains in the real world but often struggles since it lacks knowledge of the upcoming geometry. This can b...
