COTRATE is an online self-supervised framework that uses proprioceptive terrain assessment to supervise visual traversability estimation with alignment loss and diversity-aware replay for continual robot-agnostic learning.
Cross-gait: Cross- attention-based multimodal representation fusion for parametric gait adaptation in complex terrains
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Splatblox creates a traversability-aware ESDF from RGB-LiDAR fusion via Gaussian Splatting, enabling semantic navigation that outperforms prior methods by over 50% success rate in vegetated field trials on quadruped and wheeled robots.
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Self-Supervised Online Robot-Agnostic Traversability Estimation for Open-World Environments
COTRATE is an online self-supervised framework that uses proprioceptive terrain assessment to supervise visual traversability estimation with alignment loss and diversity-aware replay for continual robot-agnostic learning.
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Splatblox: Traversability-Aware Gaussian Splatting for Outdoor Robot Navigation
Splatblox creates a traversability-aware ESDF from RGB-LiDAR fusion via Gaussian Splatting, enabling semantic navigation that outperforms prior methods by over 50% success rate in vegetated field trials on quadruped and wheeled robots.