{"id":"https://openalex.org/W4305005975","doi":"https://doi.org/10.48550/arxiv.2210.04932","title":"NeRF2Real: Sim2real Transfer of Vision-guided Bipedal Motion Skills using Neural Radiance Fields","display_name":"NeRF2Real: Sim2real Transfer of Vision-guided Bipedal Motion Skills using Neural Radiance Fields","publication_year":2022,"publication_date":"2022-10-10","ids":{"openalex":"https://openalex.org/W4305005975","doi":"https://doi.org/10.48550/arxiv.2210.04932"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2210.04932","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2210.04932","pdf_url":"https://arxiv.org/pdf/2210.04932","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2210.04932","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5037305533","display_name":"Arunkumar Byravan","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Byravan, Arunkumar","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102771619","display_name":"Jan Humplik","orcid":"https://orcid.org/0000-0002-7573-7635"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Humplik, Jan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014567358","display_name":"Leonard Hasenclever","orcid":"https://orcid.org/0000-0003-1844-696X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hasenclever, Leonard","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056029139","display_name":"Arthur Brussee","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Brussee, Arthur","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063532849","display_name":"Francesco Nori","orcid":"https://orcid.org/0000-0003-3763-6873"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nori, Francesco","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030073861","display_name":"Tuomas Haarnoja","orcid":"https://orcid.org/0009-0007-2973-9246"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Haarnoja, Tuomas","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058953211","display_name":"Benjamin M. Moran","orcid":"https://orcid.org/0000-0001-5230-0863"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Moran, Ben","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020261747","display_name":"Steven Bohez","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bohez, Steven","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006431582","display_name":"Fereshteh Sadeghi","orcid":"https://orcid.org/0000-0003-4058-5261"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sadeghi, Fereshteh","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071658548","display_name":"Bojan Vujatovic","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Vujatovic, Bojan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5062951341","display_name":"Nicolas Heess","orcid":"https://orcid.org/0000-0001-7876-9256"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Heess, Nicolas","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":11,"corresponding_author_ids":["https://openalex.org/A5037305533"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9973999857902527,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9973999857902527,"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/T11206","display_name":"Model Reduction and Neural Networks","score":0.9909999966621399,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9878000020980835,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7213195562362671},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.706074059009552},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6736747026443481},{"id":"https://openalex.org/keywords/radiance","display_name":"Radiance","score":0.6555382013320923},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.6431872844696045},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5352512001991272},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.520811915397644},{"id":"https://openalex.org/keywords/ball","display_name":"Ball (mathematics)","score":0.5099128484725952},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.48415952920913696},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12371620535850525},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.09187093377113342},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08768436312675476}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7213195562362671},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.706074059009552},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6736747026443481},{"id":"https://openalex.org/C23690007","wikidata":"https://www.wikidata.org/wiki/Q1411145","display_name":"Radiance","level":2,"score":0.6555382013320923},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.6431872844696045},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5352512001991272},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.520811915397644},{"id":"https://openalex.org/C122041747","wikidata":"https://www.wikidata.org/wiki/Q838611","display_name":"Ball (mathematics)","level":2,"score":0.5099128484725952},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.48415952920913696},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12371620535850525},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.09187093377113342},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08768436312675476},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2210.04932","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2210.04932","pdf_url":"https://arxiv.org/pdf/2210.04932","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"doi:10.48550/arxiv.2210.04932","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2210.04932","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2210.04932","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2210.04932","pdf_url":"https://arxiv.org/pdf/2210.04932","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.75}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4305005975.pdf","grobid_xml":"https://content.openalex.org/works/W4305005975.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2896728493","https://openalex.org/W2392142157","https://openalex.org/W2043512367","https://openalex.org/W4321518006","https://openalex.org/W2331836163","https://openalex.org/W1994657804","https://openalex.org/W2005276308","https://openalex.org/W1970182911","https://openalex.org/W2024462231","https://openalex.org/W2347721387"],"abstract_inverted_index":{"We":[0,59,121],"present":[1],"a":[2,28,32,37,47,54,81,93,140,160],"system":[3],"for":[4,49,139],"applying":[5],"sim2real":[6],"approaches":[7],"to":[8,17,129,159],"\"in":[9],"the":[10,42,61,65,70,77,89,101,107,112],"wild\"":[11],"scenes":[12],"with":[13,147],"realistic":[14],"visuals,":[15],"and":[16,46,111,116,135,153],"policies":[18,138,158],"which":[19,96],"rely":[20],"on":[21],"active":[22],"perception":[23],"using":[24,36,53,88],"RGB":[25,151],"cameras.":[26],"Given":[27],"short":[29],"video":[30,164],"of":[31,64,72,143],"static":[33,66,102],"scene":[34,67,103],"collected":[35],"generic":[38],"phone,":[39],"we":[40,124,154],"learn":[41,130],"scene's":[43],"contact":[44,98],"geometry":[45,104,115],"function":[48],"novel":[50],"view":[51],"synthesis":[52],"Neural":[55],"Radiance":[56],"Field":[57],"(NeRF).":[58],"augment":[60],"NeRF":[62,108],"rendering":[63,71,90],"by":[68],"overlaying":[69],"other":[73],"dynamic":[74,113],"objects":[75],"(e.g.":[76],"robot's":[78],"own":[79],"body,":[80],"ball).":[82],"A":[83],"simulation":[84,128],"is":[85,165],"then":[86],"created":[87],"engine":[91],"in":[92],"physics":[94],"simulator":[95],"computes":[97],"dynamics":[99],"from":[100,106],"(estimated":[105],"volume":[109],"density)":[110],"objects'":[114],"physical":[117],"properties":[118],"(assumed":[119],"known).":[120],"demonstrate":[122],"that":[123],"can":[125],"use":[126],"this":[127],"vision-based":[131],"whole":[132],"body":[133],"navigation":[134],"ball":[136],"pushing":[137],"20":[141],"degrees":[142],"freedom":[144],"humanoid":[145],"robot":[146],"an":[148],"actuated":[149],"head-mounted":[150],"camera,":[152],"successfully":[155],"transfer":[156],"these":[157],"real":[161],"robot.":[162],"Project":[163],"available":[166],"at":[167],"https://sites.google.com/view/nerf2real/home":[168]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-02-09T09:26:11.010843","created_date":"2022-10-14T00:00:00"}
