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cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
Vehicle Dynamics Modeling for Autonomous Racing Using Gau...
Jingyun Ning, Madhur Behl · 2023-06-06 · via cs.RO updates on arXiv.org

Autonomous racing is increasingly becoming a proving ground for autonomous vehicle technology at the limits of its current capabilities. The most prominent examples include the F1Tenth racing series, Formula Student Driverless (FSD), Roborace, and the Indy Autonomous Challenge (IAC). Especially necessary, in high speed autonomous racing, is the knowledge of accurate racecar vehicle dynamics. The choice of the vehicle dynamics model has to be made by balancing the increasing computational demands in contrast to improved accuracy of more complex models. Recent studies have explored learning-based methods, such as Gaussian Process (GP) regression for approximating the vehicle dynamics model. However, these efforts focus on higher level constructs such as motion planning, or predictive control and lack both in realism and rigor of the GP modeling process, which is often over-simplified. This paper presents the most detailed analysis of the applicability of GP models for approximating vehicle dynamics for autonomous racing. In particular we construct dynamic, and extended kinematic models for the popular F1TENTH racing platform. We investigate the effect of kernel choices, sample sizes, racetrack layout, racing lines, and velocity profiles on the efficacy and generalizability of the learned dynamics. We conduct 400+ simulations on real F1 track layouts to provide comprehensive recommendations to the research community for training accurate GP regression for single-track vehicle dynamics of a racecar.