3 papers
cs.RO2025
VertiFormer: A Data-Efficient Multi-Task Transformer for Off-Road Robot Mobility
Mohammad Nazeri, Anuj Pokhrel, Alexandyr Card +3
Sophisticated learning architectures, e.g., Transformers, present a unique opportunity for robots to understand complex vehicle-terrain kinodynamic interactions for off-road mobili…
cs.RO2024
Autonomous Ground Navigation in Highly Constrained Spaces: Lessons learned from The 3rd BARN Challenge at ICRA 2024
Xuesu Xiao, Zifan Xu, Aniket Datar +16
The 3rd BARN (Benchmark Autonomous Robot Navigation) Challenge took place at the 2024 IEEE International Conference on Robotics and Automation (ICRA 2024) in Yokohama, Japan and co…
cs.RO2024
Terrain-Attentive Learning for Efficient 6-DoF Kinodynamic Modeling on Vertically Challenging Terrain
Aniket Datar, Chenhui Pan, Mohammad Nazeri +2
Wheeled robots have recently demonstrated superior mechanical capability to traverse vertically challenging terrain (e.g., extremely rugged boulders comparable in size to the vehic…