mlsanityData to 7 Oct 2026

BADGR: An Autonomous Self-Supervised Learning-Based Navigation System

arXiv 2002.05700 ↗First posted 13 Feb 2020cs.RO cs.AI cs.LGcited by 97

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Abstract (arXiv)

Mobile robot navigation is typically regarded as a geometric problem, in which the robot's objective is to perceive the geometry of the environment in order to plan collision-free paths towards a desired goal. However, a purely geometric view of the world can can be insufficient for many navigation problems. For example, a robot navigating based on geometry may avoid a field of tall grass because it believes it is untraversable, and will therefore fail to reach its desired goal. In this work, we investigate how to move beyond these purely geometric-based approaches using a method that learns about physical navigational affordances from experience. Our approach, which we call BADGR, is an end-to-end learning-based mobile robot navigation system that can be trained with self-supervised off-policy data gathered in real-world environments, without any simulation or human supervision. BADGR can navigate in real-world urban and off-road environments with geometrically distracting obstacles. It can also incorporate terrain preferences, generalize to novel environments, and continue to improve autonomously by gathering more data. Videos, code, and other supplemental material are available on our website https://sites.google.com/view/badgr

Key facts. Cited by 97 papers in the map (data through 7 Oct 2026). First posted on arXiv 13 Feb 2020.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2020: 2; 2021: 21; 2022: 20; 2023: 16; 2024: 17; 2025: 10; 2026: 11.

97 papers.

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  1. 2020Offline Reinforcement Learning: Tutorial, Review, and Perspectives on Open Problemscited by 1,873
  2. 2024Deep Reinforcement Learning for Robotics: A Survey of Real-World Successescited by 153
  3. 2022Prompting Decision Transformer for Few-Shot Policy Generalizationcited by 143
  4. 2023Large Language Models for Robotics: A Surveycited by 132
  5. 2021Rapid Exploration for Open-World Navigation with Latent Goal Modelscited by 118
  6. 2021Learning Vision-Guided Quadrupedal Locomotion End-to-End with Cross-Modal Transformerscited by 71
  7. 2021Continual Learning for Real-World Autonomous Systems: Algorithms, Challenges and Frameworkscited by 56
  8. 2022ViKiNG: Vision-Based Kilometer-Scale Navigation with Geographic Hintscited by 55
  9. 2021GANav: Efficient Terrain Segmentation for Robot Navigation in Unstructured Outdoor Environmentscited by 51
  10. 2023Fast Traversability Estimation for Wild Visual Navigationcited by 41
  11. 2024CityWalker: Learning Embodied Urban Navigation from Web-Scale Videoscited by 40
  12. 2023Not Only Rewards But Also Constraints: Applications on Legged Robot Locomotioncited by 33
38 more
  1. 2024Learning Robust Autonomous Navigation and Locomotion for Wheeled-Legged Robotscited by 32
  2. 2021Learning a State Representation and Navigation in Cluttered and Dynamic Environmentscited by 30
  3. 2021Fully Autonomous Real-World Reinforcement Learning with Applications to Mobile Manipulationcited by 30
  4. 2022WayFAST: Navigation with Predictive Traversability in the Fieldcited by 30
  5. 2022How Does It Feel? Self-Supervised Costmap Learning for Off-Road Vehicle Traversabilitycited by 24
  6. 2021UMBRELLA: Uncertainty-Aware Model-Based Offline Reinforcement Learning Leveraging Planningcited by 23
  7. 2022Learning Visual Locomotion with Cross-Modal Supervisioncited by 23
  8. 2024RoadRunner -- Learning Traversability Estimation for Autonomous Off-road Drivingcited by 23
  9. 2025NaviDiffusor: Cost-Guided Diffusion Model for Visual Navigationcited by 23
  10. 2022ScaTE: A Scalable Framework for Self-Supervised Traversability Estimation in Unstructured Environmentscited by 21
  11. 2021Learned Visual Navigation for Under-Canopy Agricultural Robotscited by 18
  12. 2021Dealing with the Unknown: Pessimistic Offline Reinforcement Learningcited by 18
  13. 2023EVORA: Deep Evidential Traversability Learning for Risk-Aware Off-Road Autonomycited by 18
  14. 2020APPLD: Adaptive Planner Parameter Learning from Demonstrationcited by 17
  15. 2021Visual Representation Learning for Preference-Aware Path Planningcited by 17
  16. 2022Risk-Aware Off-Road Navigation via a Learned Speed Distribution Mapcited by 17
  17. 2022ExAug: Robot-Conditioned Navigation Policies via Geometric Experience Augmentationcited by 17
  18. 2022Proactive Anomaly Detection for Robot Navigation with Multi-Sensor Fusioncited by 15
  19. 2024Wild Visual Navigation: Fast Traversability Learning via Pre-Trained Models and Online Self-Supervisioncited by 15
  20. 2022Learning Robotic Navigation from Experience: Principles, Methods, and Recent Resultscited by 13
  21. 2022RCA: Ride Comfort-Aware Visual Navigation via Self-Supervised Learningcited by 10
  22. 2023STERLING: Self-Supervised Terrain Representation Learning from Unconstrained Robot Experiencecited by 10
  23. 2026Metis: A Generalizable and Efficient World-Action Model for Autonomous Driving and Urban Navigationcited by 10
  24. 2023Accountability in Offline Reinforcement Learning: Explaining Decisions with a Corpus of Examplescited by 9
  25. 2025CREStE: Scalable Mapless Navigation with Internet Scale Priors and Counterfactual Guidancecited by 9
  26. 2022Mars Terrain Segmentation with Less Labelscited by 7
  27. 2023Learning Terrain-Aware Kinodynamic Model for Autonomous Off-Road Rally Driving With Model Predictive Path Integral Controlcited by 7
  28. 2021Navigation-Oriented Scene Understanding for Robotic Autonomy: Learning to Segment Driveability in Egocentric Imagescited by 6
  29. 2021Towards Disturbance-Free Visual Mobile Manipulationcited by 6
  30. 2022Learning Forward Dynamics Model and Informed Trajectory Sampler for Safe Quadruped Navigationcited by 6
  31. 2023Wait, That Feels Familiar: Learning to Extrapolate Human Preferences for Preference Aligned Path Planningcited by 6
  32. 2023Revisiting Bellman Errors for Offline Model Selectioncited by 5
  33. 2023Safe Navigation in Unstructured Environments by Minimizing Uncertainty in Control and Perceptioncited by 5
  34. 2024Reusing Historical Trajectories in Natural Policy Gradient via Importance Sampling: Convergence and Convergence Ratecited by 5
  35. 2024RoadRunner M&M -- Learning Multi-range Multi-resolution Traversability Maps for Autonomous Off-road Navigationcited by 5
  36. 2021Dynamic Semantic Occupancy Mapping using 3D Scene Flow and Closed-Form Bayesian Inferencecited by 4
  37. 2022Exploring the Intersection between Neural Architecture Search and Continual Learningcited by 4
  38. 2022Energy-based Legged Robots Terrain Traversability Modeling via Deep Inverse Reinforcement Learningcited by 4

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