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Wheeled Lab

Modern Sim2Real for Low-cost, Open-source Wheeled Robotics

Tyler Han   Preet Shah   Sidharth Rajagopal   Yanda Bao   Sanghun Jung   Sidharth Talia   Gabriel Guo   Bryan Xu   Bhaumik Mehta   Emma Romig   Rosario Scalise   Byron Boots  

In Submission

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Description of the image

We developed and showcased below three state-of-the-art policies for small-scale RC cars: controlled drifting, elevation traversal, and visual navigation, each trained in simulation and deployed in the real world.

Drift Policy

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Drift Policy
Training in Isaac Lab Simulation

RGB Policy

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Policy with moving barricade
Training in Isaac Lab Simulation

Elevation Policy

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Policy with wide ramp
Training in Isaac Lab Simulation