traversability

A GPU implementation of Model Predictive Path Integral (MPPI) control that uses a probabilistic traversability model for planning risk-aware trajectories.

Wild Visual Navigation: A system for fast traversability learning via pre-trained models and online self-supervision

[RA-L '24] Learning self-supervised traversability with navigation experiences of mobile robots: A risk-aware self-training approach

WayFASTER: a Self-Supervised Traversability Prediction for Increased Navigation Awareness

WayFAST: a minimal data waypoints free autonomous navigation algorithm for field robots

off-road navigation simulator for benchmarking planning algorithms

This is the official implementation of the ICRA 2025 paper TANGO: Traversability-Aware Navigation with Local Metric Control for Topological Goals

Follow the Footprints: Self-supervised Traversability Estimation for Off-road Vehicle Navigation based on Geometric and Visual Cues

Geometric Traversability using Self-Supervised with Anomaly Classification @ ICRA'26

ASCC2022 - TROT-Q: TRaversability and Obstacle aware Target tracking system for Quadruped robots

A C++ library for 3D traversability estimation from MLS maps

This repository provides a traversability benchmark for experiments in both simulation and real-world environments.

From-scratch C++17 LiDAR + camera perception — sector RANSAC, LiDAR-inertial SLAM, MOT, probabilistic traversability, CBF safety. 13 engineering deep-dives.

[IROS 2026] TravKAN: Fast and Interpretable Nonlinear Traversability Analysis with Kolmogorov-Arnold Networks

Two-stage vision-language traversability analysis for autonomous vehicles using Qwen2-VL sentinel + NVIDIA Cosmos-Reason1 deep reasoning on Jetson AGX Orin.

Multi-task perception network for quadruped robots: traversability segmentation, terrain classification and anchor-free object detection in one PyTorch forward pass, exported to ONNX/TensorRT for Jetson Orin.

Onboard image segmentation for off-road navigation — DeepLabV3+ over 9 traversability classes with a composite CE/Dice/IoU loss and alpha scheduling (Machine Learning course project)

Panoptic segmentation for autonomous forest navigation

Physics-first UGV traversability: Bekker–Wong–Janosi gates, NASA/Wong literature soils, residual adapters, ROS pickup. Research software — not field-certified.

Given the geometry of your robot, labels as traversable the points in the point cloud through which its trajectory passes.