{"id":"https://openalex.org/W4410949685","doi":"https://doi.org/10.1109/lra.2025.3575648","title":"VR-Robo: A Real-to-Sim-to-Real Framework for Visual Robot Navigation and Locomotion","display_name":"VR-Robo: A Real-to-Sim-to-Real Framework for Visual Robot Navigation and Locomotion","publication_year":2025,"publication_date":"2025-06-02","ids":{"openalex":"https://openalex.org/W4410949685","doi":"https://doi.org/10.1109/lra.2025.3575648"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3575648","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3575648","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5040608113","display_name":"Shaoting Zhu","orcid":"https://orcid.org/0009-0000-9294-6212"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shaoting Zhu","raw_affiliation_strings":["Institute for Interdisciplinary Information Sciences, Tsinghua University, Beijing, China","Institute for Interdisciplinary Information Sciences, Tsinghua University, China"],"raw_orcid":"https://orcid.org/0009-0000-9294-6212","affiliations":[{"raw_affiliation_string":"Institute for Interdisciplinary Information Sciences, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Institute for Interdisciplinary Information Sciences, Tsinghua University, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031959594","display_name":"Linzhan Mou","orcid":null},"institutions":[{"id":"https://openalex.org/I4210122302","display_name":"ShangHai JiAi Genetics & IVF Institute","ror":"https://ror.org/02rgbry52","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210122302"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Linzhan Mou","raw_affiliation_strings":["Shanghai Qi Zhi Institute, Shanghai, China","Institute for Interdisciplinary Information Sciences, Tsinghua University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Qi Zhi Institute, Shanghai, China","institution_ids":["https://openalex.org/I4210122302"]},{"raw_affiliation_string":"Institute for Interdisciplinary Information Sciences, Tsinghua University, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102738329","display_name":"Derun Li","orcid":"https://orcid.org/0000-0003-0512-6684"},"institutions":[{"id":"https://openalex.org/I4210122302","display_name":"ShangHai JiAi Genetics & IVF Institute","ror":"https://ror.org/02rgbry52","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210122302"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Derun Li","raw_affiliation_strings":["Shanghai Qi Zhi Institute, Shanghai, China","Institute for Interdisciplinary Information Sciences, Tsinghua University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Qi Zhi Institute, Shanghai, China","institution_ids":["https://openalex.org/I4210122302"]},{"raw_affiliation_string":"Institute for Interdisciplinary Information Sciences, Tsinghua University, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108926295","display_name":"Baijun Ye","orcid":null},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Baijun Ye","raw_affiliation_strings":["Institute for Interdisciplinary Information Sciences, Tsinghua University, Beijing, China","Institute for Interdisciplinary Information Sciences, Tsinghua University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Interdisciplinary Information Sciences, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Institute for Interdisciplinary Information Sciences, Tsinghua University, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Runhan Huang","orcid":"https://orcid.org/0009-0007-7688-3339"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Runhan Huang","raw_affiliation_strings":["Institute for Interdisciplinary Information Sciences, Tsinghua University, Beijing, China","Institute for Interdisciplinary Information Sciences, Tsinghua University, China"],"raw_orcid":"https://orcid.org/0009-0007-7688-3339","affiliations":[{"raw_affiliation_string":"Institute for Interdisciplinary Information Sciences, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Institute for Interdisciplinary Information Sciences, Tsinghua University, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025049450","display_name":"Hao Zhao","orcid":"https://orcid.org/0000-0001-7903-581X"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hang Zhao","raw_affiliation_strings":["Institute for Interdisciplinary Information Sciences, Tsinghua University, Beijing, China","Institute for Interdisciplinary Information Sciences, Tsinghua University, China"],"raw_orcid":"https://orcid.org/0000-0001-7903-581X","affiliations":[{"raw_affiliation_string":"Institute for Interdisciplinary Information Sciences, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Institute for Interdisciplinary Information Sciences, Tsinghua University, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.729,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.90749991,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"10","issue":"8","first_page":"7875","last_page":"7882"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9948999881744385,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.9846000075340271,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5568361878395081},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.551215410232544},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5345088243484497},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4528903663158417},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4468916356563568},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.3771969676017761}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5568361878395081},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.551215410232544},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5345088243484497},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4528903663158417},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4468916356563568},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.3771969676017761}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3575648","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3575648","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W2009422376","https://openalex.org/W2158782408","https://openalex.org/W2205172244","https://openalex.org/W2471962767","https://openalex.org/W2605102758","https://openalex.org/W2767050701","https://openalex.org/W2911087563","https://openalex.org/W2963184939","https://openalex.org/W2982083293","https://openalex.org/W4200150166","https://openalex.org/W4280571816","https://openalex.org/W4382365373","https://openalex.org/W4383097455","https://openalex.org/W4385318467","https://openalex.org/W4392763392","https://openalex.org/W4393248012","https://openalex.org/W4401415792","https://openalex.org/W4402704609","https://openalex.org/W4402753900","https://openalex.org/W4403706620","https://openalex.org/W4403982072","https://openalex.org/W4404132771","https://openalex.org/W4409264028","https://openalex.org/W6784333009","https://openalex.org/W6797065961","https://openalex.org/W6800004206","https://openalex.org/W6838746019","https://openalex.org/W6857202355","https://openalex.org/W6857454988","https://openalex.org/W6862270123","https://openalex.org/W6869729717","https://openalex.org/W6870239492","https://openalex.org/W6870461480","https://openalex.org/W6873074603","https://openalex.org/W6873427023","https://openalex.org/W6873643285","https://openalex.org/W6873714200","https://openalex.org/W6873825070","https://openalex.org/W6873992635","https://openalex.org/W6874275047","https://openalex.org/W6875735531"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Recent":[0],"success":[1],"in":[2,25,163,172],"legged":[3],"robot":[4,157],"locomotion":[5,89],"is":[6],"attributed":[7],"to":[8,29,36,57,132],"the":[9,45,52,130,153],"integration":[10],"of":[11,47,54,156],"reinforcement":[12,126],"learning":[13,127],"and":[14,40,78,88,104,115,174],"physical":[15,117],"simulators.":[16],"However,":[17],"these":[18,55,106],"policies":[19,56,158],"often":[20],"encounter":[21],"challenges":[22],"when":[23],"deployed":[24],"real-world":[26,42],"environments":[27,84,107],"due":[28],"sim-to-real":[30,146],"gaps,":[31],"as":[32],"simulators":[33],"typically":[34],"fail":[35],"replicate":[37],"visual":[38,49,86,113,135],"realism":[39],"complex":[41,164],"geometry.":[43],"Moreover,":[44],"lack":[46],"realistic":[48],"rendering":[50],"limits":[51],"ability":[53],"support":[58,111],"high-level":[59],"tasks":[60],"requiring":[61],"RGB-based":[62],"perception":[63,114],"like":[64],"ego-centric":[65,112],"navigation.":[66],"This":[67],"paper":[68],"presents":[69],"a":[70,125,134],"<italic":[71],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[72],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Real-to-Sim-to-Real</i>":[73],"framework":[74,143,151],"that":[75,110,141],"generates":[76],"photorealistic":[77],"physically":[79],"interactive":[80],"\u201cdigital":[81],"twin\u201d":[82],"simulation":[83],"for":[85,170],"navigation":[87],"learning.":[90],"Our":[91],"approach":[92],"leverages":[93],"3D":[94],"Gaussian":[95],"Splatting":[96],"(3DGS)":[97],"based":[98],"scene":[99],"reconstruction":[100],"from":[101],"multi-view":[102],"images":[103],"integrates":[105],"into":[108],"simulations":[109],"mesh-based":[116],"interactions.":[118],"To":[119],"demonstrate":[120],"its":[121,168],"effectiveness,":[122],"we":[123],"train":[124],"policy":[128,147],"within":[129],"simulator":[131],"perform":[133],"goal-tracking":[136],"task.":[137],"Extensive":[138],"experiments":[139],"show":[140],"our":[142,150],"achieves":[144],"RGB-only":[145],"transfer.":[148],"Additionally,":[149],"facilitates":[152],"rapid":[154],"adaptation":[155],"with":[159],"effective":[160],"exploration":[161],"capability":[162],"new":[165],"environments,":[166],"highlighting":[167],"potential":[169],"applications":[171],"households":[173],"factories.":[175]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
