Before revision: Navigation policies are commonly learned on idealized cylinder agents in simulation , without modelling complex dynamics, like contact dynamics, arising from the interaction between the robot and the environment. Such policies perform poorly when deployed on complex and dynamic robots , such as legged robots .
After revision: Navigation policies are commonly learned on idealized cylinder agents in simulation and transferring them to real wheeled robots. Deploying such navigation policies on legged robots can be challenging due to their complex dynamics, and the large dynamical difference between cylinder agents and legged systems .