Differentiable simulators continue to push the state of the art across a range of domains
including computational physics, robotics, and machine learning. Their main value is the …

In this paper, we address the problem of system identification and control of a front-steered
vehicle which abides by the Ackermann geometry constraints. This problem arises naturally …

Omnidirectional mobility is required for the efficient movement of transport vehicles in
factories and warehouses. To meet this requirement, the active omni wheel with barrel …

This paper aims to increase the safety and reliability of executing trajectories planned for
robots with non-trivial dynamics given a light-weight, approximate dynamics model …

This work introduces a benchmarking framework for sampling-based kinodynamic planning
algorithms, built on top of ML4KP, a C++ library for efficient kinodynamic planning that …

Differentiable simulators continue to push the state of the art across a range of domains
including computational physics, robotics, and machine learning. Their main value is the …