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Verti-Bench: A General and Scalable Off-Road Mobility Benchmark for Vertically Challenging Terrain

17 February 2025

Papers citing "Verti-Bench: A General and Scalable Off-Road Mobility Benchmark for Vertically Challenging Terrain"

35 / 35 papers shown

Title
T-CBF: Traversability-based Control Barrier Function to Navigate Vertically Challenging Terrain Manas Gupta Xuesu Xiao 102 0 0 08 Mar 2025
AFlow: Automating Agentic Workflow Generation Jiayi Zhang Jinyu Xiang Zhaoyang Yu Fengwei Teng Xionghui Chen ... Jinlin Wang Bingnan Zheng Bang Liu Yuyu Luo Chenglin Wu AIFin AI4CE 96 55 0 14 Oct 2024
Traverse the Non-Traversable: Estimating Traversability for Wheeled Mobility on Vertically Challenging Terrain Chenhui Pan A. Datar Anuj Pokhrel Matthew Choulas Mohammad Nazeri Xuesu Xiao 59 4 0 26 Sep 2024
VertiSelector: Automatic Curriculum Learning for Wheeled Mobility on Vertically Challenging Terrain Tong Xu Chenhui Pan Xuesu Xiao 81 2 0 26 Sep 2024
PIETRA: Physics-Informed Evidential Learning for Traversing Out-of-Distribution Terrain Xiaoyi Cai James Queeney Tong Xu A. Datar Chenhui Pan ... Ashton Flather Philip R. Osteen Nicholas Roy Xuesu Xiao Jonathan P. How 79 9 0 04 Sep 2024
Reinforcement Learning for Wheeled Mobility on Vertically Challenging Terrain Tong Xu Chenhui Pan Xuesu Xiao 81 5 0 04 Sep 2024
Terrain-Attentive Learning for Efficient 6-DoF Kinodynamic Modeling on Vertically Challenging Terrain A. Datar Chenhui Pan Mohammad Nazeri Anuj Pokhrel Xuesu Xiao 111 15 0 25 Mar 2024
Model Predictive Control for Aggressive Driving Over Uneven Terrain Tyler Han Alex Liu Anqi Li Alex Spitzer Guanya Shi Byron Boots 84 22 0 21 Nov 2023
EVORA: Deep Evidential Traversability Learning for Risk-Aware Off-Road Autonomy Xiaoyi Cai Siddharth Ancha Lakshay Sharma Philip R. Osteen Bernadette Bucher Stephen Phillips Jiuguang Wang Michael Everett Nicholas Roy Jonathan P. How EDL 90 36 0 10 Nov 2023
The GOOSE Dataset for Perception in Unstructured Environments Peter Mortimer Raphael Hagmanns Miguel Granero T. Luettel J. Petereit Hans-Joachim Wuensche 68 22 0 25 Oct 2023
An Efficient Trajectory Planner for Car-like Robots on Uneven Terrain Longji Xu Kaixin Chai Zhichao Han Hong Liu Chao Xu Yanjun Cao Fei Gao 53 17 0 12 Sep 2023
BotanicGarden: A High-Quality Dataset for Robot Navigation in Unstructured Natural Environments Yuanzhi Liu Yujia Fu Minghui Qin Yufeng Xu Baoxin Xu ... Hongwei Yu Chun Liu Long Chen W. Tao Hui Zhao 3DV 65 23 0 25 Jun 2023
Learning to Model and Plan for Wheeled Mobility on Vertically Challenging Terrain A. Datar Chenhui Pan Xuesu Xiao 85 25 0 20 Jun 2023
Learning Off-Road Terrain Traversability with Self-Supervisions Only Junwon Seo Sungdae Sim Inwook Shim SSL 90 41 0 30 May 2023
Learning Terrain-Aware Kinodynamic Model for Autonomous Off-Road Rally Driving With Model Predictive Path Integral Control Ho-Woon Lee Taekyung Kim Jungwi Mun Wonsuk Lee 79 17 0 01 May 2023
Toward Wheeled Mobility on Vertically Challenging Terrain: Platforms, Datasets, and Algorithms A. Datar Chenhui Pan Mohammad Nazeri Xuesu Xiao 103 40 0 02 Mar 2023
ART/ATK: A research platform for assessing and mitigating the sim-to-real gap in robotics and autonomous vehicle engineering A. Elmquist Aaron Young Thomas Hansen Sriram Ashokkumar Stefan Caldararu ... Luning Fang Henghua Shen Xiangru Xu R. Serban Dan Negrut 85 21 0 09 Nov 2022
Sim-to-Real via Sim-to-Seg: End-to-end Off-road Autonomous Driving Without Real Data John So Amber Xie Sunggoo Jung J. Edlund Rohan Thakker Ali Agha-mohammadi Pieter Abbeel Stephen James 78 9 0 25 Oct 2022
RAMP: A Risk-Aware Mapping and Planning Pipeline for Fast Off-Road Ground Robot Navigation Lakshay Sharma Michael Everett Donggun Lee Xiaoyi Cai Philip R. Osteen Jonathan P. How 44 12 0 12 Oct 2022
How Does It Feel? Self-Supervised Costmap Learning for Off-Road Vehicle Traversability Mateo Guaman Castro S. Triest Wenshan Wang Jason M. Gregory Felix Sanchez J. Rogers Sebastian Scherer 141 66 0 22 Sep 2022
NAUTS: Negotiation for Adaptation to Unstructured Terrain Surfaces S. Siva Maggie B. Wigness J. Rogers Long Quang Hao Zhang 67 9 0 27 Jul 2022
ORFD: A Dataset and Benchmark for Off-Road Freespace Detection Chen Min Weizhong Jiang Dawei Zhao Jiaolong Xu Liang Xiao Yiming Nie Bin Dai 3DPC 66 57 0 20 Jun 2022
High-Speed Accurate Robot Control using Learned Forward Kinodynamics and Non-linear Least Squares Optimization P. Atreya Haresh Karnan Kavan Singh Sikand Xuesu Xiao Sadegh Rabiee Joydeep Biswas 61 30 0 16 Jun 2022
These Maps Are Made For Walking: Real-Time Terrain Property Estimation for Mobile Robots Parker Ewen Adam Li Yuxin Chen Steven Hong Ram Vasudevan 103 29 0 25 May 2022
TartanDrive: A Large-Scale Dataset for Learning Off-Road Dynamics Models S. Triest Matthew Sivaprakasam Sean J. Wang Wenshan Wang Aaron M. Johnson Sebastian Scherer 129 56 0 03 May 2022
Elevation Mapping for Locomotion and Navigation using GPU Takahiro Miki Lorenz Wellhausen R. Grandia Fabian Jenelten Timon Homberger Marco Hutter 86 99 0 27 Apr 2022
VI-IKD: High-Speed Accurate Off-Road Navigation using Learned Visual-Inertial Inverse Kinodynamics Haresh Karnan Kavan Singh Sikand P. Atreya Sadegh Rabiee Xuesu Xiao Garrett A. Warnell Peter Stone Joydeep Biswas 134 43 0 30 Mar 2022
Hybrid Imitative Planning with Geometric and Predictive Costs in Off-road Environments Nitish Dashora Daniel Shin Dhruv Shah Henry A. Leopold David D. Fan Ali Agha-Mohammadi Nicholas Rhinehart Sergey Levine OffRL 58 16 0 22 Nov 2021
Visual Representation Learning for Preference-Aware Path Planning Kavan Singh Sikand Sadegh Rabiee Adam Uccello Xuesu Xiao Garrett A. Warnell Joydeep Biswas 109 35 0 18 Sep 2021
STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Off-road Navigation David D. Fan K. Otsu Y. Kubo Anushri Dixit J. W. Burdick Ali-Akbar Agha-Mohammadi 93 61 0 04 Mar 2021
Learning Inverse Kinodynamics for Accurate High-Speed Off-Road Navigation on Unstructured Terrain Xuesu Xiao Joydeep Biswas Peter Stone 60 79 0 25 Feb 2021
Motion Planning and Control for Mobile Robot Navigation Using Machine Learning: a Survey Xuesu Xiao Bo Liu Garrett A. Warnell Peter Stone 65 196 0 26 Nov 2020
RELLIS-3D Dataset: Data, Benchmarks and Analysis Peng-Tao Jiang Philip R. Osteen Maggie B. Wigness Srikanth Saripalli 3DV 89 221 0 17 Nov 2020
Sliced-Wasserstein Autoencoder: An Embarrassingly Simple Generative Model Soheil Kolouri Phillip E. Pope Charles E. Martin Gustavo K. Rohde 51 94 0 05 Apr 2018
On-Manifold Preintegration for Real-Time Visual-Inertial Odometry Christian Forster Luca Carlone F. Dellaert Davide Scaramuzza 86 1,103 0 08 Dec 2015