NeRF2Real: Sim2real Transfer of Vision-guided Bipedal Motion Skills using Neural Radiance Fields

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 scene by overlaying the rendering of other dynamic objects (e.g. the robot's own body, a ball). A simulation is then created using the rendering engine in a physics simulator which computes contact dynamics from the static scene geometry (estimated from the NeRF vol-ume density) and the dynamic objects' geometry and physical properties (assumed known). We demonstrate that we can use this simulation to learn vision-based whole body navigation and ball pushing policies for a 20 degree-of-freedom humanoid robot with an actuated head-mounted RGB camera, and we successfully transfer these policies to a real robot.