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How Does It Feel? Self-Supervised Costmap Learning for Off-Road Vehicle Traversability. (arXiv:2209.10788v1 [cs.RO])
cs.LG updates on arXiv.org arxiv.org
Estimating terrain traversability in off-road environments requires reasoning
about complex interaction dynamics between the robot and these terrains.
However, it is challenging to build an accurate physics model, or create
informative labels to learn a model in a supervised manner, for these
interactions. We propose a method that learns to predict traversability
costmaps by combining exteroceptive environmental information with
proprioceptive terrain interaction feedback in a self-supervised manner.
Additionally, we propose a novel way of incorporating robot velocity in the