NeRF2Real: Sim2real Transfer of Vision-guided Bipedal Motion Skills using Neural Radiance Fields
Arunkumar Byravan,Jan Humplik,Leonard Hasenclever,Arthur Brussee,Francesco Nori,Tuomas Haarnoja,Ben Moran,Steven Bohez,Fereshteh Sadeghi,Bojan Vujatovic,Nicolas Heess,Arunkumar Byravan,Jan Humplik,Leonard Hasenclever,Arthur Brussee,Francesco Nori,Tuomas Haarnoja,Ben Moran,Steven Bohez,Fereshteh Sadeghi,Bojan Vujatovic,Nicolas Heess
We present a system for applying sim2real approaches to “in the wild” scenes with realistic visuals, and to policies which rely on active perception using RGB cameras. Given a short video of a static scene collected using a generic phone, we learn the scene's contact geometry and a function for novel view synthesis using a Neural Radiance Field (NeRF). We augment the NeRF rendering of the static s...
