36 citations · 53 across the 11 of their papers we have counts for
5 papers · 1 filter
PyPose: A Library for Robot Learning with Physics-based Optimization
Chen Wang, Dasong Gao, Kuan Xu +34
Deep learning has had remarkable success in robotic perception, but its data-centric nature suffers when it comes to generalizing to ever-changing environments. By contrast, physic…
How Does It Feel? Self-Supervised Costmap Learning for Off-Road Vehicle Traversability
Mateo Guaman Castro, Samuel Triest, Wenshan Wang +4
Estimating terrain traversability in off-road environments requires reasoning about complex interaction dynamics between the robot and these terrains. However, it is challenging to…
DytanVO: Joint Refinement of Visual Odometry and Motion Segmentation in Dynamic Environments
Shihao Shen, Yilin Cai, Wenshan Wang +1
Learning-based visual odometry (VO) algorithms achieve remarkable performance on common static scenes, benefiting from high-capacity models and massive annotated data, but tend to…
TartanDrive: A Large-Scale Dataset for Learning Off-Road Dynamics Models
Samuel Triest, Matthew Sivaprakasam, Sean J. Wang +3
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 modifi…
COMPASS: Contrastive Multimodal Pretraining for Autonomous Systems
Shuang Ma, Sai Vemprala, Wenshan Wang +4
Learning representations that generalize across tasks and domains is challenging yet necessary for autonomous systems. Although task-driven approaches are appealing, designing mode…