Publications

T. Xu, C. Pan, A. Datar, and X. Xiao (2025). VertiAdaptor: Online Kinodynamics Adaptation for Vertically Challenging Terrain. under review.

Y. Lu, M. Mao, T. Xu, L. Wang, X. Lin, and X. Xiao (2025). Adaptive Dynamics Planning for Robot Navigation. IEEE International Conference on Robotics and Automation (ICRA), 2026.

C. Pan, C. Pan, A. Pokhrel, M. Choulas, M. Nazeri, T. Xu, and X. Xiao (2025). Traverse the Non-Traversable: Estimating Traversability for Wheeled Mobility on Vertically Challenging Terrain. under review.

X. Xiao, Z. Xu, S. A. Ghani, A. Datar, D. Song, P. Stone, A. Mazen, K. Yazdipaz, I. Mateyaunga, M. Faied, M. Krishnan, Y. Lu, T. Xu, N. Mohammad, W. Kim, J. Reasoner, and N. Bezzo (2025). Autonomous Ground Navigation in Highly Constrained Spaces: Lessons Learned from The Forth BARN Challenge at ICRA 2025. RAM 2025.

Website Paper Dataset

Z. Hu, T. Xu, X. Xiao, and X. Wang (2025). CARoL: Context-aware Adaptation for Robot Learning. RA-L 2025.

H. Chen, A. Datar, T. Xu, F. Cancelliere, H. Rangwala, M. B. Rao, D. Song, D. Eichinger, and X. Xiao (2025). Verti-Arena: A Controllable and Standardized Indoor Testbed for Multi-Terrain Off-Road Autonomy. SSRR 2025.

Y. Lu, T. Xu, L. Wang, N. Hawes, and X. Xiao (2025). Decremental Dynamics Planning for Robot Navigation. IROS 2025.

Paper Code Video

L. Wang, T. Xu, Y. Lu, and X. Xiao (2025). Reward Training Wheels: Adaptive Auxiliary Rewards for Robotics Reinforcement Learning. IROS 2025.

T. Xu, C. Pan, and X. Xiao (2025). VertiSelector: Automatic Curriculum Learning for Wheeled Mobility on Vertically Challenging Terrain. IROS 2025.

Paper Code Video

T. Xu, C. Pan, M. B. Rao, A. Datar, A. Pokhrel, Y. Lu, and X. Xiao (2025). Verti-Bench: A General and Scalable Off-Road Mobility Benchmark for Vertically Challenging Terrain. RSS 2025.

Website Paper Code Dataset Video

X. Cai, J. Queeney, T. Xu, A. Datar, C. Pan, M. Miller, A. Flather, P. R. Osteen, N. Roy, X. Xiao, and Jonathan P. How (2024). Pietra: Physics-informed evidential learning for traversing out-of-distribution terrain. RA-L 2024.

T. Xu, C. Pan, and X. Xiao (2024). Reinforcement learning for wheeled mobility on vertically challenging terrain. SSRR 2024.