Difference-Based Relational Learning for Zero-Shot Object-Goal Visual Navigation With Direct Sim-to-Real Transfer

arXiv:2607.15642v1 Announce Type: new Abstract: End-to-end deep reinforcement learning (DRL) for zero-shot object-goal visual navigation remains challenged by the sim-to-real gap, particularly variations in object appearance and restricted camera field-of-view (FoV). This letter proposes a Temporal Difference-Relational Network (T-DRN) for robust zero-shot sim-to-real transfer. T-DRN combines a Siamese difference-based feature extractor, which computes relational difference between the target an...