How does it feel? self-supervised costmap learning for off-road vehicle traversability
Estimating terrain traversability in off-road environments requires reasoning about complex
interaction dynamics between the robot and these terrains. However, it is challenging to …
interaction dynamics between the robot and these terrains. However, it is challenging to …
Tartandrive: A large-scale dataset for learning off-road dynamics models
We present TartanDrive, a large scale dataset for learning dynamics models for off-road
driving. We collected a dataset of roughly 200,000 off-road driving interactions on a modified …
driving. We collected a dataset of roughly 200,000 off-road driving interactions on a modified …
Toward wheeled mobility on vertically challenging terrain: Platforms, datasets, and algorithms
Most conventional wheeled robots can only move in flat environments and simply divide
their planar workspaces into free spaces and obstacles. Deeming obstacles as non …
their planar workspaces into free spaces and obstacles. Deeming obstacles as non …
Learning to model and plan for wheeled mobility on vertically challenging terrain
Most autonomous navigation systems assume wheeled robots are rigid bodies and their 2D
planar workspaces can be divided into free spaces and obstacles. However, recent wheeled …
planar workspaces can be divided into free spaces and obstacles. However, recent wheeled …
Tartandrive 2.0: More modalities and better infrastructure to further self-supervised learning research in off-road driving tasks
We present TartanDrive 2.0, a large-scale off-road driving dataset for self-supervised
learning tasks. In 2021 we released TartanDrive 1.0, which is one of the largest datasets for …
learning tasks. In 2021 we released TartanDrive 1.0, which is one of the largest datasets for …
Terrain-attentive learning for efficient 6-DoF kinodynamic modeling on vertically challenging terrain
Wheeled robots have recently demonstrated superior mechanical capability to traverse
vertically challenging terrain (eg, extremely rugged boulders comparable in size to the …
vertically challenging terrain (eg, extremely rugged boulders comparable in size to the …
Learning-on-the-drive: Self-supervised adaptation of visual offroad traversability models
Autonomous offroad driving is essential for applications like emergency rescue, military
operations, and agriculture. Despite progress, systems struggle with high-speed vehicles …
operations, and agriculture. Despite progress, systems struggle with high-speed vehicles …
[PDF][PDF] Towards autonomous driving with small-scale cars: A survey of recent development
While engaging with the unfolding revolution in autonomous driving, a challenge presents
itself, how can we effectively raise awareness within society about this transformative trend …
itself, how can we effectively raise awareness within society about this transformative trend …
Reinforcement learning for wheeled mobility on vertically challenging terrain
Off-road navigation on vertically challenging ter-rain, involving steep slopes and rugged
boulders, presents significant challenges for wheeled robots both at the planning level to …
boulders, presents significant challenges for wheeled robots both at the planning level to …
Vertiencoder: Self-supervised kinodynamic representation learning on vertically challenging terrain
We present VertiEncoder, a self-supervised representation learning approach for robot
mobility on vertically challenging terrain. Using the same pre-training process, VertiEncoder …
mobility on vertically challenging terrain. Using the same pre-training process, VertiEncoder …