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Learning to navigate unknown environments from scratch is a challengingproblem. This work presents a system that integrates world models withcuriosity-driven exploration for autonomous navigation in new environments. Weevaluate performance through simulations and real-world experiments of varyingscales and complexities. In simulated environments, the approach rapidly andcomprehensively explores the surroundings. Real-world scenarios introduceadditional challenges. Despite demonstrating promise in a small controlledenvironment, we acknowledge that larger and dynamic environments can posechallenges for the current system. Our analysis emphasizes the significance ofdeveloping adaptable and robust world models that can handle environmentalchanges to prevent repetitive exploration of the same areas.

Learning to Navigate from Scratch using World Models and Curiosity: the Good, the Bad, and the Ugly