NavDP: Learning Sim-to-Real Navigation Diffusion Policy with Privileged Information Guidance

Learning navigation in dynamic open-world environments is an important yet challenging skill for robots. Most previous methods rely on precise localization and mapping or learn from expensive real-world demonstrations. In this paper, we propose the Navigation Diffusion Policy (NavDP), an end-to-end framework trained solely in simulation and can zero-shot transfer to different embodiments in diverse real-world environments. The key ingredient of NavDP's network is the combination of diffusion-based trajectory generation and a critic function for trajectory selection, which are conditioned on only local observation tokens encoded from a shared policy transformer. Given the privileged information of the global environment in simulation, we scale up the demonstrations of good quality to train the diffusion policy and formulate the critic value function targets with contrastive negative samples. Our demonstration generation approach achieves about 2,500 trajectories/GPU per day, 20$\times$ more efficient than real-world data collection, and results in a large-scale navigation dataset with 363.2km trajectories across 1244 scenes. Trained with this simulation dataset, NavDP achieves state-of-the-art performance and consistently outstanding generalization capability on quadruped, wheeled, and humanoid robots in diverse indoor and outdoor environments. In addition, we present a preliminary attempt at using Gaussian Splatting to make in-domain real-to-sim fine-tuning to further bridge the sim-to-real gap. Experiments show that adding such real-to-sim data can improve the success rate by 30\% without hurting its generalization capability.

NTIRE 2025 Challenge on Event-Based Image Deblurring: Methods and Results

This paper presents an overview of NTIRE 2025 the First Challenge on Event-Based Image Deblurring, detailing the proposed methodologies and corresponding results. The primary goal of the challenge is to design an event-based method that achieves high-quality image deblurring, with performance quantitatively assessed using Peak Signal-to-Noise Ratio (PSNR). Notably, there are no restrictions on computational complexity or model size. The task focuses on leveraging both events and images as inputs for single-image deblurring. A total of 199 participants registered, among whom 15 teams successfully submitted valid results, offering valuable insights into the current state of event-based image deblurring. We anticipate that this challenge will drive further advancements in event-based vision research.