VLD: Visual Learned Distance as an Interface for Reinforcement Learning Navigation

원문 초록

Training end-to-end policies from image data to directly predict navigation actions for robotic systems has proven inherently difficult. Existing approaches often suffer from either the sim-to-real gap during policy transfer or limited action-labeled training data. To address this problem, we introduce Visual Learned Distance (VLD), a scalable framework for image-goal navigation that decouples perception learning from policy learning. We first train a self-supervised distance-to-goal predictor on about 3,000 hours of internet-scale and simulated video, providing a distance signal that a reinforcement learning (RL) policy can minimize. The RL policy is trained separately in simulation using privileged geometric distances perturbed by GeoNoise, a learned noise model that reproduces the viewpoint- and overlap-dependent errors of the trained distance predictor. At deployment, the policy consumes VLD predictions zero-shot, without retraining, inheriting ``where to go'' from large-scale visual training while retaining the robust navigation behaviors learned in simulation. This error modeling is key to the transfer: with VLD inputs, GeoNoise-trained policies reach $58.7\%$ success on HM3D and $76.2\%$ on Gibson, whereas policies trained with generic temporally correlated noise collapse to $4.9\%$ and $11.5\%$. On a physical robot, the VLD-driven policy succeeds in $88\%$ of trials, compared with $60\%$ for a strong end-to-end image-goal baseline that outperforms it in simulation. Our decoupled design thus provides an alternative and scalable path toward reliable navigation policies that transfer from simulation to the real world.