![]() non-deformable, deformable hard (silt-like), deformable soft (snow-like), etc. The hilly terrain covers an 80×80 m patch and the soil can be controlled by the user to assume various behavior, e.g. For \((ii)\), we use a Gator off-road vehicle to demonstrate how a policy learned on non-deformable terrain performs when used in hilly conditions while navigating around a course of randomly placed obstacles on deformable terrain. ![]() The library has a Python API for interfacing with existing Machine Learning frameworks. For ( \(i\)), the 0.5 million lines of open-source code support vehicle dynamics (wheeled/tracked vehicles, rovers), deformable & non-deformable terrains, and virtual sensing. Vehicle durability, repair systems, and repair stations.This contribution ( \(i\)) describes an open-source, physics-based simulation infrastructure that can be used to learn and test control policies in off-road navigation and ( \(ii\)) demonstrates the use of the simulation platform in an end-to-end learning exercise that relies on simulated sensor data fusion (camera, GPS and IMU).Support for steering wheel controllers. ![]()
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