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cs.RO2026
Shift & Drift: A Zero-Shot Benchmark for Generalizable and Robust Autonomous Driving Motion Planning
Alessandro Canevaro, Hang Yu, Julian Schmidt +5
While closed-loop motion planners trained on large-scale, object-level datasets, e.g., nuPlan, demonstrate strong in-distribution (ID) performance, their generalization to novel ur…
cs.RO2025
A Smooth Analytical Formulation of Collision Detection and Rigid Body Dynamics With Contact
Onur Beker, Nico Gürtler, Ji Shi +4
Generating intelligent robot behavior in contact-rich settings is a research problem where zeroth-order methods currently prevail. A major contributor to the success of such method…