  Current visual navigation systems often treat the environment as static,
lacking the ability to adaptively interact with obstacles. This limitation
leads to navigation failure when encountering unavoidable obstructions. In
response, we introduce IN-Sight, a novel approach to self-supervised path
planning, enabling more effective navigation strategies through interaction
with obstacles. Utilizing RGB-D observations, IN-Sight calculates
traversability scores and incorporates them into a semantic map, facilitating
long-range path planning in complex, maze-like environments. To precisely
navigate around obstacles, IN-Sight employs a local planner, trained
imperatively on a differentiable costmap using representation learning
techniques. The entire framework undergoes end-to-end training within the
state-of-the-art photorealistic Intel SPEAR Simulator. We validate the
effectiveness of IN-Sight through extensive benchmarking in a variety of
simulated scenarios and ablation studies. Moreover, we demonstrate the system's
real-world applicability with zero-shot sim-to-real transfer, deploying our
planner on the legged robot platform ANYmal, showcasing its practical potential
for interactive navigation in real environments.
