4 papers
Learning All-Terrain Locomotion for a Planetary Rover with Actively Articulated Suspension
Arthur Bouton, Tristan D. Hasseler, Michael Paton +5
This paper presents ERNEST, a four-wheeled planetary rover concept equipped with a two-degree-of-freedom Active Gimbal Suspension that combines yaw and roll actuation to enable whe…
Simulation Distillation: Pretraining World Models in Simulation for Rapid Real-World Adaptation
Jacob Levy, Tyler Westenbroek, Kevin Huang +6
Robot learning requires adaptation methods that improve reliably from limited, mixed-quality interaction data. This is especially challenging in long-horizon, contact-rich tasks, w…
Data-Driven Modeling and Correction of Vehicle Dynamics
Nguyen Ly, Caroline Tatsuoka, Jai Nagaraj +4
We develop a data-driven framework for learning and correcting non-autonomous vehicle dynamics. Physics-based vehicle models are often simplified for tractability and therefore exh…
Meta-Learning Online Dynamics Model Adaptation in Off-Road Autonomous Driving
Jacob Levy, Jason Gibson, Bogdan Vlahov +4
High-speed off-road autonomous driving presents unique challenges due to complex, evolving terrain characteristics and the difficulty of accurately modeling terrain-vehicle interac…