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cs.RO2026
Propagating Elevation-Map Uncertainty Through the Contact Maximum in Closed Form
Aleš Kučera, Karel Zimmermann
Risk-aware planners score paths on uncertain elevation maps using the path cost's mean and standard deviation. Modeling rigid contact, however, requires computing a maximum over se…
cs.RO2026
Occlusion-Aware, Quasi-Static, Stability-Oriented Trajectory Planning on Uneven Terrain
Amith Manoharan, Chinmay Mundane, Aayush Bahukhandi +3
Autonomous navigation in unstructured off-road environments requires reasoning about both vehicle--terrain interaction and environmental unknowns. We propose a model-based framewor…
cs.RO2026
Ostrich: Taking Large Strides Through Stiff Contact in Differentiable Dynamics
Aleš Kučera, Karel Zimmermann
Three properties determine whether a differentiable simulator can drive gradient-based optimization through contact: simulation accuracy, gradient reliability, and per-iteration co…