Tootfinder

„MAGA seems to think it can begin with coercion and then build hegemony. But they may be making the same mistake the Leninist parties did in the West: pursuing an insurrectionary politics unsuited to the terrain of an advanced liberal democracy with a developed civil society. They are pursuing what Gramsci called the “war of maneuver”—rapid, lightning assaults—rather than the “war of position”—a gradual and more deliberate kind of approach.“

Effect of Gait Design on Proprioceptive Sensing of Terrain Properties in a Quadrupedal Robot
Ethan Fulcher, J. Diego Caporale, Yifeng Zhang, John Ruck, Feifei Qian
https://arxiv.org/abs/2509.22065

Effect of Gait Design on Proprioceptive Sensing of Terrain Properties in a Quadrupedal Robot
In-situ robotic exploration is an important tool for advancing knowledge of geological processes that describe the Earth and other Planetary bodies. To inform and enhance operations for these roving laboratories, it is imperative to understand the terramechanical properties of their environments, especially for traversing on loose, deformable substrates. Recent research suggested that legged robots with direct-drive and low-gear ratio actuators can sensitively detect external forces, and theref…

Effectiveness of Reconfigurable Intelligent Surface in Multipath Fading Channel
Hasnul Hashim
https://arxiv.org/abs/2510.00838 https://arxiv.org/pdf/2510.0…

Effectiveness of Reconfigurable Intelligent Surface in Multipath Fading Channel
A method of simulating a single-input single-output reconfigurable intelligent surface (RIS) assisted channel is presented using three channel black boxes to represent the direct signal path, the transmit path to the RIS and the reflected path from the RIS. The complex coefficients for each channel box is obtained by ray tracing in a scenario with geographic terrain information that also contains approximate building shapes. The electrical characteristics of the ground and building walls were a…

You know, I am not the only unicyclist at @…! Isn't that right @…? 😉
#Unicyclist

Path-Based Correlation Analysis of Meteorological Factors and eLoran Signal Delay Variations
Junwoo Song, Pyo-woong Son
https://arxiv.org/abs/2509.26020 https://

Path-Based Correlation Analysis of Meteorological Factors and eLoran Signal Delay Variations
Unlike GNSS, which is vulnerable to jamming and spoofing due to its inherently weak received power, eLoran exhibits robustness owing to its high field strength. Therefore, the eLoran system can maintain reliable operation even in scenarios where GNSS becomes unavailable. However, since eLoran signals propagate through ground waves, the propagation delay is susceptible to changes in surface conditions, including both terrain and meteorological variations. This study aims to analyze the correlati…

Vision-Based Perception for Autonomous Vehicles in Off-Road Environment Using Deep Learning
Nelson Alves Ferreira Neto
https://arxiv.org/abs/2509.19378 https://

Vision-Based Perception for Autonomous Vehicles in Off-Road Environment Using Deep Learning
Low-latency intelligent systems are required for autonomous driving on non-uniform terrain in open-pit mines and developing countries. This work proposes a perception system for autonomous vehicles on unpaved roads and off-road environments, capable of navigating rough terrain without a predefined trail. The Configurable Modular Segmentation Network (CMSNet) framework is proposed, facilitating different architectural arrangements. CMSNet configurations were trained to segment obstacles and traf…

Once upon a time there were three brothers who were knights
in a certain kingdom. And, there was a Princess in a neighboring kingdom
who was of marriageable age. Well, one day, in full armour, their horses,
and their page, the three brothers set off to see if one of them could
win her hand. The road was long and there were many obstacles along the
way, robbers to be overcome, hard terrain to cross. As they coped with
each obstacle they became more and more d…

Series A, Episode 12 - Deliverance
GAN: That's Jenna's.
AVON: Obviously somebody, or something, attacked her.
VILA: And obviously it won.
GAN: She might have made a run for it.
https://blake.torpidity.net/m/112/117 B7B3

I usually post in the evening today's post inthe morning for the 'Fotovorschlag' somehow broke my routine.
Anyways, I wanted to share this photo from my hike on sunday. It was my first winter-hike this season! Saturday was a great cloud inversion - which I missed - sunday greeted me (and QUITE some more hikers) with a plain blue sky.
I hope I can get out again on the weekend to test warmer socks.
Well - enjoy!

Replaced article(s) found for q-bio.QM. https://arxiv.org/list/q-bio.QM/new
[1/1]:
- Simulation of snakes using vertical body bending to traverse terrain with large height variation
Yifeng Zhang, Qihan Xuan, Qiyuan Fu, Chen Li

Unveiling stealth SUSY in the low missing energy terrain at the LHC
Justin I. Alvarez, Marvin M Flores
https://arxiv.org/abs/2509.16501 https://arxiv.org/p…

Unveiling stealth SUSY in the low missing energy terrain at the LHC
Using a set of missing energy-independent selection criteria involving large-radius jet multiplicity and angular separation among the final states, we extend the discovery potential of the stealth SUSY squark-pair production in the low missing transverse energy (ETmiss) parameter space, thereby complementing existing ATLAS and CMS searches that are sensitive in the high ETmiss regime. With these kinematic cuts, the estimated sensitivity was extended to squark masses up to 2500 GeV for a bino ma…

Aux Etats-Unis, le monde MAGA divisé sur la politique de Donald Trump et rongé par une mouvance néonazie
https://www.lemonde.fr/international/article/2025/11/20/au…

Aux Etats-Unis, le monde MAGA divisé sur la politique de Donald Trump et rongé par une mouvance néonazie
L’affaire Epstein, les milliardaires de la tech, le Venezuela, Israël… le mouvement qui a ramené le milliardaire à la Maison Blanche se déchire aujourd’hui sur de nombreux sujets. Autour de Nick Fuentes, un courant ouvertement antisémite, raciste et misogyne y gagne du terrain.

For electric vehicle drivers: Locate charging points along routes, with estimates for charging times and range to avoid range anxiety.
🌤️ Weather-Based Route Adjustments
Retrieve real-time weather data to reroute around rain or snow, ensuring safer and more efficient drives.
🏔️ Terrain-Optimized Adventures
Plan off-road or hiking trips with elevation profiles and campground data to identify suitable paths for rugged vehicles.
💨 Air Quality-Driven Routing

Terrain-Aided Navigation Using a Point Cloud Measurement Sensor
Abd\"ulbaki \c{S}anlan, Fatih Erol, Murad Abu-Khalaf, Emre Koyuncu
https://arxiv.org/abs/2510.06470 https://…

Terrain-Aided Navigation Using a Point Cloud Measurement Sensor
We investigate the use of a point cloud measurement in terrain-aided navigation. Our goal is to aid an inertial navigation system, by exploring ways to generate a useful measurement innovation error for effective nonlinear state estimation. We compare two such measurement models that involve the scanning of a digital terrain elevation model: a) one that is based on typical ray-casting from a given pose, that returns the predicted point cloud measurement from that pose, and b) another computatio…

Replaced article(s) found for cs.AI. https://arxiv.org/list/cs.AI/new
[6/12]:
- Localized Graph-Based Neural Dynamics Models for Terrain Manipulation
Chaoqi Liu, Yunzhu Li, Kris Hauser

Aerial view of west central #Minnesota. Thousands of lakes on this glaciated terrain.

Probabilistically-Safe Bipedal Navigation over Uncertain Terrain via Conformal Prediction and Contraction Analysis
Kasidit Muenprasitivej, Ye Zhao, Glen Chou
https://arxiv.org/abs/2510.07725

Probabilistically-Safe Bipedal Navigation over Uncertain Terrain via Conformal Prediction and Contraction Analysis
We address the challenge of enabling bipedal robots to traverse rough terrain by developing probabilistically safe planning and control strategies that ensure dynamic feasibility and centroidal robustness under terrain uncertainty. Specifically, we propose a high-level Model Predictive Control (MPC) navigation framework for a bipedal robot with a specified confidence level of safety that (i) enables safe traversal toward a desired goal location across a terrain map with uncertain elevations, an…

A bit of #mountainMonday ! I took this in January 2024.
I hiked that mountain and decided not just to hike to the summit but to spend some considerable time and try to capture some photos that express cold & #winter.
I layed down to the ground and waited for the wind to blow s…

Replaced article(s) found for physics.bio-ph. https://arxiv.org/list/physics.bio-ph/new
[1/1]:
- Contact feedback helps snake robots propel against uneven terrain using vertical bending
Qiyuan Fu, Chen Li

LidarScout: Direct Out-of-Core Rendering of Massive Point Clouds
Philipp Erler, Lukas Herzberger, Michael Wimmer, Markus Sch\"utz
https://arxiv.org/abs/2509.20198 https://

LidarScout: Direct Out-of-Core Rendering of Massive Point Clouds
Large-scale terrain scans are the basis for many important tasks, such as topographic mapping, forestry, agriculture, and infrastructure planning. The resulting point cloud data sets are so massive in size that even basic tasks like viewing take hours to days of pre-processing in order to create level-of-detail structures that allow inspecting the data set in their entirety in real time. In this paper, we propose a method that is capable of instantly visualizing massive country-sized scans with…

Advancing Resource Extraction Systems in Martian Volcanic Terrain: Rover Design, Power Consumption and Hazard Analysis
Divij Gupta, Arkajit Aich
https://arxiv.org/abs/2509.06103

Advancing Resource Extraction Systems in Martian Volcanic Terrain: Rover Design, Power Consumption and Hazard Analysis
This study proposes a schematic plan for in-situ resource utilization (ISRU) in Martian volcanic terrains. The work investigated the complexity of volcanic terrains and Martian environmental hazards and suggested comprehensive engineering strategies to overcome the odds and establish a successful mining program in Martian volcanic regions. Slope stabilization methods - such as terracing and anchored drilling rigs - with terrain-adaptive rovers capable of autonomous operations on steep unstable …

NASA discovers ‘clearest sign of life that we’ve ever found on Mars’
Rolling across the rugged, rusty red terrain on Mars,
NASA’s Perseverance rover came upon some rocks with peculiar green, blue, black and white dots.
After detailed image analysis, scientists have come to a potentially encouraging conclusion:
If those speckled rocks were formed like they are on Earth, they might be evidence of past life on the dusty planet

NASA discovers ‘clearest sign of life that we’ve ever found on Mars’
Detailed analysis of images of speckled rocks found by NASA’s Perseverance rover has found a “potential biosignature.”

I still cannot believe how lucky we were with the weather last weekend for a group trip to Pitlochry and a chance to climb Ben Vrackie
#scotland #pitlochry #highlands

Radiolunadiff: Estimation of wireless network signal strength in lunar terrain
Paolo Torrado, Anders Pearson, Jason Klein, Alexander Moscibroda, Joshua Smith
https://arxiv.org/abs/2509.14559

Radiolunadiff: Estimation of wireless network signal strength in lunar terrain
In this paper, we propose a novel physics-informed deep learning architecture for predicting radio maps over lunar terrain. Our approach integrates a physics-based lunar terrain generator, which produces realistic topography informed by publicly available NASA data, with a ray-tracing engine to create a high-fidelity dataset of radio propagation scenarios. Building on this dataset, we introduce a triplet-UNet architecture, consisting of two standard UNets and a diffusion network, to model compl…

Leverage real-time traffic data to estimate accurate driving durations, factoring in congestion or roadworks for reliable planning.
⛽ Fuel Stop Recommendations
Combine routing with gas station locations to suggest nearby or cost-effective refueling options based on distance and fuel prices.
🚗 Plan Car Trips
Create detailed itineraries with multi-stop routes, including breaks, attractions, and estimated arrival times, tailored to weather and terrain data.
⚡ Find EV…

view from my window

Investigating the Ways in Which Mobile Phone Images with Open-Source Data Can Be Used to Create an Augmented Virtual Environment (AVE)
Russell Beale, Daniel Rutter
https://arxiv.org/abs/2509.14374

Investigating the Ways in Which Mobile Phone Images with Open-Source Data Can Be Used to Create an Augmented Virtual Environment (AVE)
This paper presents the development of an interactive system for constructing Augmented Virtual Environments (AVEs) by fusing mobile phone images with open-source geospatial data. By integrating 2D image data with 3D models derived from sources such as OpenStreetMap (OSM) and Digital Terrain Models (DTM), the proposed system generates immersive environments that enhance situational context. The system leverages Python for data processing and Unity for 3D visualization, interconnected via UDP-ba…

Hybrid Terrain-Aware Path Planning: Integrating VD--RRT\(^{*}\) Exploration and VD--D\(^{*}\) Lite Repair
Akshay Naik, William R. Norris, Dustin Nottage, Ahmet Soylemezoglu
https://arxiv.org/abs/2510.12169

Hybrid Terrain-Aware Path Planning: Integrating VD--RRT\(^{*}\) Exploration and VD--D\(^{*}\) Lite Repair
Autonomous ground vehicles operating off-road must plan curvature-feasible paths while accounting for spatially varying soil strength and slope hazards in real time. We present a continuous state--cost metric that combines a Bekker pressure--sinkage model with elevation-derived slope and attitude penalties. The resulting terrain cost field is analytic, bounded, and monotonic in soil modulus and slope, ensuring well-posed discretization and stable updates under sensor noise. This metric is evalu…

Wow! This is important.
https://www.theguardian.com/world/ng-interactive/2025/nov/08/off-road-wheelchair-trackchair-hiking?CMP=Share_AndroidApp_Other

Wow! This is important.
https://www.theguardian.com/world/ng-interactive/2025/nov/08/off-road-wheelchair-trackchair-hiking?CMP=Share_AndroidApp_Other

My son has added a new project to his portfolio and is also looking for job as environment artist/designer... check it out!
https://mastodon.gamedev.place/@Nekso/115309157319706178

Nekso (@Nekso@mastodon.gamedev.place)
Attached: 4 images Recently finished my latest personal work "Processional Way". Breakdown and more shots on my Artstation: https://nekso.artstation.com/projects/rlNRzG Credits: Trees - Ardacraft tree build team https://essentialschematics.gumroad.com/ Terrain - "Thalassira" by Redranger https://www.planetminecraft.com/project/thalassira-conquest-reforged-9k-x-7k/ Mod - Conquest Reforged Shaders - Bliss shaders by Xonk #footpathfriday #minecraft #conquestreforged #photography

Le trafic est fortement perturbé de Versailles Rive Droite vers Paris Saint-Lazare.
Motif: panne de signalisation terrain entre St-Cloud et Puteaux.
Pour plus d'informations sur cette perturbation, consultez le fil X de la ligne L.
🤖 15/09 06:04

We did a nice hike today. At the first summit we re-evaluated the trail ahead, possibly difficult terrain and our own condition.
Result: we CANCELLED and went the same way back which we came.
On the way down we met 2 women who coincidentally hiked the same route. We explained why we cancelled and agreed to possibly meet later at the inn where we parked.
They came a good hour after us to the inn - and they also cancelled, regarding our evaluation.
Nevertheless a good …

Aerial view of Libertyville, Illinois, north of Chicago, after a light snow. #SilentSunday

Le trafic est ralenti sur l'ensemble de la ligne.
Pour plus d'informations sur cette perturbation, consultez le fil X de la ligne U.
Motif : panne de signalisation terrain entre Saint Cloud et Puteaux.
🤖 15/09 06:21

Replaced article(s) found for cs.RO. https://arxiv.org/list/cs.RO/new
[1/2]:
- SenSnake: A snake robot with contact force sensing for studying locomotion in complex 3-D terrain
Divya Ramesh, Qiyuan Fu, Chen Li

Replaced article(s) found for physics.ao-ph. https://arxiv.org/list/physics.ao-ph/new
[1/1]:
- Investigating the use of terrain-following coordinates in AI-driven precipitation forecasts
Yingkai Sha, John S. Schreck, William Chapman, David John Gagne II

A Geometrically Consistent Matching Framework for Side-Scan Sonar Mapping
Can Lei, Hayat Rajani, Nuno Gracias, Rafael Garcia, Huigang Wang
https://arxiv.org/abs/2509.11255 https…

A Geometrically Consistent Matching Framework for Side-Scan Sonar Mapping
Robust matching of side scan sonar imagery remains a fundamental challenge in seafloor mapping due to view dependent backscatter, shadows, and geometric distortion. This paper proposes a novel matching framework that combines physical decoupling and geometric consistency to enhance correspondence accuracy and consistency across viewpoints. A self supervised multi branch network, derived from the Lambertian reflection model, decomposes raw sonar images into seabed reflectivity, terrain elevation…

Replaced article(s) found for cs.CG. https://arxiv.org/list/cs.CG/new
[1/1]:
- Terrain prickliness: theoretical grounds for high complexity viewsheds
Acharyya, L\"offler, Meijer, Saumell, Silveira, Staals

Enhancing the Quality of 3D Lunar Maps Using JAXA's Kaguya Imagery
Yumi Iwashita, Haakon Moe, Yang Cheng, Adnan Ansar, Georgios Georgakis, Adrian Stoica, Kazuto Nakashima, Ryo Kurazume, Jim Torresen
https://arxiv.org/abs/2510.11817

Enhancing the Quality of 3D Lunar Maps Using JAXA's Kaguya Imagery
As global efforts to explore the Moon intensify, the need for high-quality 3D lunar maps becomes increasingly critical-particularly for long-distance missions such as NASA's Endurance mission concept, in which a rover aims to traverse 2,000 km across the South Pole-Aitken basin. Kaguya TC (Terrain Camera) images, though globally available at 10 m/pixel, suffer from altitude inaccuracies caused by stereo matching errors and JPEG-based compression artifacts. This paper presents a method to improv…

Integrating Trajectory Optimization and Reinforcement Learning for Quadrupedal Jumping with Terrain-Adaptive Landing
Renjie Wang, Shangke Lyu, Xin Lang, Wei Xiao, Donglin Wang
https://arxiv.org/abs/2509.12776

Integrating Trajectory Optimization and Reinforcement Learning for Quadrupedal Jumping with Terrain-Adaptive Landing
Jumping constitutes an essential component of quadruped robots' locomotion capabilities, which includes dynamic take-off and adaptive landing. Existing quadrupedal jumping studies mainly focused on the stance and flight phase by assuming a flat landing ground, which is impractical in many real world cases. This work proposes a safe landing framework that achieves adaptive landing on rough terrains by combining Trajectory Optimization (TO) and Reinforcement Learning (RL) together. The RL agent l…

#Blakes7 Series D, Episode 03 - Traitor
AVANDIR: Igin volunteered.
HUNDA: I should never have sent him. He was too old.
AVANDIR: But that's why he volunteered Hunda, don't you see? He wanted to be of use.
https://bl…

Whil I'm editing photos from our vacation I quickly share this from last year for #WaterfallWednesday .
Enjoy!
#photography #nature

Adaptive Semantic Communication for UAV/UGV Cooperative Path Planning
Fangzhou Zhao, Yao Sun, Jianglin Lan, Lan Zhang, Xuesong Liu, Muhammad Ali Imran
https://arxiv.org/abs/2510.06901

Adaptive Semantic Communication for UAV/UGV Cooperative Path Planning
Effective path planning is fundamental to the coordination of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) systems, particularly in applications such as surveillance, navigation, and emergency response. Combining UAVs' broad field of view with UGVs' ground-level operational capability greatly improve the likelihood of successfully achieving task objectives such as locating victims, monitoring target areas, or navigating hazardous terrain. In complex environments, UAVs nee…

Performance Characterization of a Point-Cloud-Based Path Planner in Off-Road Terrain
Casey D. Majhor, Jeremy P. Bos
https://arxiv.org/abs/2509.07321 https://

Performance Characterization of a Point-Cloud-Based Path Planner in Off-Road Terrain
We present a comprehensive evaluation of a point-cloud-based navigation stack, MUONS, for autonomous off-road navigation. Performance is characterized by analyzing the results of 30,000 planning and navigation trials in simulation and validated through field testing. Our simulation campaign considers three kinematically challenging terrain maps and twenty combinations of seven path-planning parameters. In simulation, our MUONS-equipped AGV achieved a 0.98 success rate and experienced no failure…

Crosslisted article(s) found for eess.SY. https://arxiv.org/list/eess.SY/new
[1/1]:
- Hybrid Terrain-Aware Path Planning: Integrating VD--RRT\(^{*}\) Exploration and VD--D\(^{*}\) Lit...
Akshay Naik, William R. Norris, Dustin Nottage, Ahmet Soylemezoglu

Spectral Signature Mapping from RGB Imagery for Terrain-Aware Navigation
Sarvesh Prajapati, Ananya Trivedi, Nathaniel Hanson, Bruce Maxwell, Taskin Padir
https://arxiv.org/abs/2509.19105

Learning Object-Centric Representations in SAR Images with Multi-Level Feature Fusion
Oh-Tae Jang, Min-Gon Cho, Kyung-Tae Kim
https://arxiv.org/abs/2509.09298 https://

Learning Object-Centric Representations in SAR Images with Multi-Level Feature Fusion
Synthetic aperture radar (SAR) images contain not only targets of interest but also complex background clutter, including terrain reflections and speckle noise. In many cases, such clutter exhibits intensity and patterns that resemble targets, leading models to extract entangled or spurious features. Such behavior undermines the ability to form clear target representations, regardless of the classifier. To address this challenge, we propose a novel object-centric learning (OCL) framework, named…

IGUANA: Immersive Guidance, Navigation, and Control for Consumer UAV
Victor Victor, Tania Krisanty, Matthew McGinity, Stefan Gumhold, Uwe A{\ss}mann
https://arxiv.org/abs/2510.07609

IGUANA: Immersive Guidance, Navigation, and Control for Consumer UAV
As the markets for unmanned aerial vehicles (UAVs) and mixed reality (MR) headsets continue to grow, recent research has increasingly explored their integration, which enables more intuitive, immersive, and situationally aware control systems. We present IGUANA, an MR-based immersive guidance, navigation, and control system for consumer UAVs. IGUANA introduces three key elements beyond conventional control interfaces: (1) a 3D terrain map interface with draggable waypoint markers and live camer…

Single and Multi-Objective Optimization of Distributed Acoustic Sensing Cable Layouts for Geophysical Applications
Dominik Strutz, Tjeerd Kiers, Andrew Curtis
https://arxiv.org/abs/2510.07531

Single and Multi-Objective Optimization of Distributed Acoustic Sensing Cable Layouts for Geophysical Applications
We present a systematic approach to optimise distributed acoustic sensing (DAS) fibre-optic cable layouts using global optimisation techniques. Our method represents cable geometries using splines, enabling efficient exploration of layouts while respecting physical deployment constraints. The use of evolutionary algorithms enables single and multi-objective optimisation, taking into account complex design constraints such as terrain, accesibility, exclusion zones and cable length, while allowin…

1/2 'Glitzer' #FotoVorschlag 'glitter'
I don't have a lot of glitter in my portfolio. But #snowflakes can be like glitter in the counter light!
I took this #photo …

Energy-Efficient Path Planning with Multi-Location Object Pickup for Mobile Robots on Uneven Terrain
Faiza Babakano, Ahmed Fahmin, Bojie Shen, Muhammad Aamir Cheema, Isma Farah Siddiqui
https://arxiv.org/abs/2509.06061

Energy-Efficient Path Planning with Multi-Location Object Pickup for Mobile Robots on Uneven Terrain
Autonomous Mobile Robots (AMRs) operate on battery power, making energy efficiency a critical consideration, particularly in outdoor environments where terrain variations affect energy consumption. While prior research has primarily focused on computing energy-efficient paths from a source to a destination, these approaches often overlook practical scenarios where a robot needs to pick up an object en route - an action that can significantly impact energy consumption due to changes in payload. …

Replaced article(s) found for cs.CG. https://arxiv.org/list/cs.CG/new
[1/1]:
- Terrain prickliness: theoretical grounds for high complexity viewsheds
Acharyya, L\"offler, Meijer, Saumell, Silveira, Staals

Stereovision Image Processing for Planetary Navigation Maps with Semi-Global Matching and Superpixel Segmentation
Yan-Shan Lu, Miguel Arana-Catania, Saurabh Upadhyay, Leonard Felicetti
https://arxiv.org/abs/2509.05645

Stereovision Image Processing for Planetary Navigation Maps with Semi-Global Matching and Superpixel Segmentation
Mars exploration requires precise and reliable terrain models to ensure safe rover navigation across its unpredictable and often hazardous landscapes. Stereoscopic vision serves a critical role in the rover's perception, allowing scene reconstruction by generating precise depth maps through stereo matching. State-of-the-art Martian planetary exploration uses traditional local block-matching, aggregates cost over square windows, and refines disparities via smoothness constraints. However, this m…

MARG: MAstering Risky Gap Terrains for Legged Robots with Elevation Mapping
Yinzhao Dong, Ji Ma, Liu Zhao, Wanyue Li, Peng Lu
https://arxiv.org/abs/2509.20036 https://

MARG: MAstering Risky Gap Terrains for Legged Robots with Elevation Mapping
Deep Reinforcement Learning (DRL) controllers for quadrupedal locomotion have demonstrated impressive performance on challenging terrains, allowing robots to execute complex skills such as climbing, running, and jumping. However, existing blind locomotion controllers often struggle to ensure safety and efficient traversal through risky gap terrains, which are typically highly complex, requiring robots to perceive terrain information and select appropriate footholds during locomotion accurately.…

The #MTB was calling and I had to ride. But oh man, was it good after a day with about 7h calls.
Maybe I should borrow a racing bike some time ... Anyways. Keep fingers crossed that the weather tomorrow evening is nice again.
#cycling

DPL: Depth-only Perceptive Humanoid Locomotion via Realistic Depth Synthesis and Cross-Attention Terrain Reconstruction
Jingkai Sun, Gang Han, Pihai Sun, Wen Zhao, Jiahang Cao, Jiaxu Wang, Yijie Guo, Qiang Zhang
https://arxiv.org/abs/2510.07152

DPL: Depth-only Perceptive Humanoid Locomotion via Realistic Depth Synthesis and Cross-Attention Terrain Reconstruction
Recent advancements in legged robot perceptive locomotion have shown promising progress. However, terrain-aware humanoid locomotion remains largely constrained to two paradigms: depth image-based end-to-end learning and elevation map-based methods. The former suffers from limited training efficiency and a significant sim-to-real gap in depth perception, while the latter depends heavily on multiple vision sensors and localization systems, resulting in latency and reduced robustness. To overcome …

A Versatile and Programmable UAV Platform for Radio Access Network and End-to-End Cellular Measurements
Sherwan Jalal Abdullah, Sravan Reddy Chintareddy, Victor S. Frost, Shawn Keshmiri, Morteza Hashemi
https://arxiv.org/abs/2509.03818

A Versatile and Programmable UAV Platform for Radio Access Network and End-to-End Cellular Measurements
In this work, we develop a measurement platform to capture mobile network performance metrics including coverage and quality of service in regions where conventional coverage testing approaches are frequently time-intensive, labor-demanding, and occasionally hazardous. Traditionally, crowd-sourcing methods are used to collect cellular network performance metrics. However, these approaches are inadequate in rural areas due to low-density population, and difficult terrain. The platform described …

While I'm starting to getting into the photos from our holidays, I just saw that it's #FootpathFriday !
This one is a really nice path to walk - when the weather is a bit more stable than it was during our visit two years ago. But I learned a couple of lessons that day 😄

Low-Power Impact Detection and Localization on Forklifts Using Wireless IMU Sensors
Lyssa Ramaut, Chesney Buyle, Jona Cappelle, Liesbet Van der Perre
https://arxiv.org/abs/2509.04096

Low-Power Impact Detection and Localization on Forklifts Using Wireless IMU Sensors
Forklifts are essential for transporting goods in industrial environments. These machines face wear and tear during field operations, along with rough terrain, tight spaces and complex handling scenarios. This increases the likelihood of unintended impacts, such as collisions with goods, infrastructure, or other machinery. In addition, deliberate misuse has been stated, compromising safety and equipment integrity. This paper presents a low-cost and low-power impact detection system based on mul…

RFSoC receiver calibration system for 21-cm global spectrum experiments from space: The CosmoCube case
Jiacong Zhu, Eloy de Lera Acedo, Kaan Artuc, Xuelei Chen
https://arxiv.org/abs/2510.06558

RFSoC receiver calibration system for 21-cm global spectrum experiments from space: The CosmoCube case
The CosmoCube project plans to deploy a global 21-cm spectrometer with 10-100 MHz observation band in a lunar orbit. The farside part of such an orbit, i.e. the part of orbit behind the Moon, offers an ideal site for accurately measuring the 21-cm signal from the Dark Ages, Cosmic Dawn and Epoch of Reionization, as the effects of the Earth's ionosphere, artificial radio frequency interference (RFI), and complex terrain and soil are all avoided. Given the limitations of a satellite platform, we …

PERAL: Perception-Aware Motion Control for Passive LiDAR Excitation in Spherical Robots
Shenghai Yuan, Jason Wai Hao Yee, Weixiang Guo, Zhongyuan Liu, Thien-Minh Nguyen, Lihua Xie
https://arxiv.org/abs/2509.14915

PERAL: Perception-Aware Motion Control for Passive LiDAR Excitation in Spherical Robots
Autonomous mobile robots increasingly rely on LiDAR-IMU odometry for navigation and mapping, yet horizontally mounted LiDARs such as the MID360 capture few near-ground returns, limiting terrain awareness and degrading performance in feature-scarce environments. Prior solutions - static tilt, active rotation, or high-density sensors - either sacrifice horizontal perception or incur added actuators, cost, and power. We introduce PERAL, a perception-aware motion control framework for spherical rob…

Correlation Analysis Between MF R-Mode Temporal ASF and Meteorological Factors
Jongmin Park, Junwoo Song, Taewon Kang, Jaewon Yu, Pyo-Woong Son
https://arxiv.org/abs/2509.01958 …

Correlation Analysis Between MF R-Mode Temporal ASF and Meteorological Factors
As the vulnerabilities of global navigation satellite systems (GNSS) have become more widely recognized, the need for complementary navigation systems has grown. Medium frequency ranging mode (MF R-Mode) has gained attention as an effective backup system during GNSS outages, owing to its strong signal strength and cost-effective scalability. However, to achieve accurate positioning, MF R-Mode requires correction for the additional secondary factor (ASF), a propagation delay affected by terrain.…

Energy-Constrained Navigation for Planetary Rovers under Hybrid RTG-Solar Power
Tianxin Hu, Weixiang Guo, Ruimeng Liu, Xinhang Xu, Rui Qian, Jinyu Chen, Shenghai Yuan, Lihua Xie
https://arxiv.org/abs/2509.15062

Energy-Constrained Navigation for Planetary Rovers under Hybrid RTG-Solar Power
Future planetary exploration rovers must operate for extended durations on hybrid power inputs that combine steady radioisotope thermoelectric generator (RTG) output with variable solar photovoltaic (PV) availability. While energy-aware planning has been studied for aerial and underwater robots under battery limits, few works for ground rovers explicitly model power flow or enforce instantaneous power constraints. Classical terrain-aware planners emphasize slope or traversability, and trajector…

FR-Net: Learning Robust Quadrupedal Fall Recovery on Challenging Terrains through Mass-Contact Prediction
Yidan Lu, Yinzhao Dong, Jiahui Zhang, Ji Ma, Peng Lu
https://arxiv.org/abs/2509.11504

FR-Net: Learning Robust Quadrupedal Fall Recovery on Challenging Terrains through Mass-Contact Prediction
Fall recovery for legged robots remains challenging, particularly on complex terrains where traditional controllers fail due to incomplete terrain perception and uncertain interactions. We present \textbf{FR-Net}, a learning-based framework that enables quadrupedal robots to recover from arbitrary fall poses across diverse environments. Central to our approach is a Mass-Contact Predictor network that estimates the robot's mass distribution and contact states from limited sensory inputs, facilit…

More #purbeck trail photos from yesterday. What an incredible evening to be #cycling
#bike #biketooter

NavMoE: Hybrid Model- and Learning-based Traversability Estimation for Local Navigation via Mixture of Experts
Botao He, Amir Hossein Shahidzadeh, Yu Chen, Jiayi Wu, Tianrui Guan, Guofei Chen, Howie Choset, Dinesh Manocha, Glen Chou, Cornelia Fermuller, Yiannis Aloimonos
https://arxiv.org/abs/2509.12747

NavMoE: Hybrid Model- and Learning-based Traversability Estimation for Local Navigation via Mixture of Experts
This paper explores traversability estimation for robot navigation. A key bottleneck in traversability estimation lies in efficiently achieving reliable and robust predictions while accurately encoding both geometric and semantic information across diverse environments. We introduce Navigation via Mixture of Experts (NAVMOE), a hierarchical and modular approach for traversability estimation and local navigation. NAVMOE combines multiple specialized models for specific terrain types, each of whi…

Efficient Learning-Based Control of a Legged Robot in Lunar Gravity
Philip Arm, Oliver Fischer, Joseph Church, Adrian Fuhrer, Hendrik Kolvenbach, Marco Hutter
https://arxiv.org/abs/2509.10128

Efficient Learning-Based Control of a Legged Robot in Lunar Gravity
Legged robots are promising candidates for exploring challenging areas on low-gravity bodies such as the Moon, Mars, or asteroids, thanks to their advanced mobility on unstructured terrain. However, as planetary robots' power and thermal budgets are highly restricted, these robots need energy-efficient control approaches that easily transfer to multiple gravity environments. In this work, we introduce a reinforcement learning-based control approach for legged robots with gravity-scaled power-op…

Autonomous Legged Mobile Manipulation for Lunar Surface Operations via Constrained Reinforcement Learning
Alvaro Belmonte-Baeza, Miguel Cazorla, Gabriel J. Garc\'ia, Carlos J. P\'erez-Del-Pulgar, Jorge Pomares
https://arxiv.org/abs/2510.12684

Autonomous Legged Mobile Manipulation for Lunar Surface Operations via Constrained Reinforcement Learning
Robotics plays a pivotal role in planetary science and exploration, where autonomous and reliable systems are crucial due to the risks and challenges inherent to space environments. The establishment of permanent lunar bases demands robotic platforms capable of navigating and manipulating in the harsh lunar terrain. While wheeled rovers have been the mainstay for planetary exploration, their limitations in unstructured and steep terrains motivate the adoption of legged robots, which offer super…

LIPM-Guided Reinforcement Learning for Stable and Perceptive Locomotion in Bipedal Robots
Haokai Su, Haoxiang Luo, Shunpeng Yang, Kaiwen Jiang, Wei Zhang, Hua Chen
https://arxiv.org/abs/2509.09106

LIPM-Guided Reinforcement Learning for Stable and Perceptive Locomotion in Bipedal Robots
Achieving stable and robust perceptive locomotion for bipedal robots in unstructured outdoor environments remains a critical challenge due to complex terrain geometry and susceptibility to external disturbances. In this work, we propose a novel reward design inspired by the Linear Inverted Pendulum Model (LIPM) to enable perceptive and stable locomotion in the wild. The LIPM provides theoretical guidance for dynamic balance by regulating the center of mass (CoM) height and the torso orientation…

Quadrotor Navigation using Reinforcement Learning with Privileged Information
Jonathan Lee, Abhishek Rathod, Kshitij Goel, John Stecklein, Wennie Tabib
https://arxiv.org/abs/2509.08177

Quadrotor Navigation using Reinforcement Learning with Privileged Information
This paper presents a reinforcement learning-based quadrotor navigation method that leverages efficient differentiable simulation, novel loss functions, and privileged information to navigate around large obstacles. Prior learning-based methods perform well in scenes that exhibit narrow obstacles, but struggle when the goal location is blocked by large walls or terrain. In contrast, the proposed method utilizes time-of-arrival (ToA) maps as privileged information and a yaw alignment loss to gui…

Acrobotics: A Generalist Approahc To Quadrupedal Robots' Parkour
Guillaume Gagn\'e-Labelle, Vassil Atanassov, Ioannis Havoutis
https://arxiv.org/abs/2509.02727 https://

Acrobotics: A Generalist Approahc To Quadrupedal Robots' Parkour
Climbing, crouching, bridging gaps, and walking up stairs are just a few of the advantages that quadruped robots have over wheeled robots, making them more suitable for navigating rough and unstructured terrain. However, executing such manoeuvres requires precise temporal coordination and complex agent-environment interactions. Moreover, legged locomotion is inherently more prone to slippage and tripping, and the classical approach of modeling such cases to design a robust controller thus quick…

Hybrid Autonomy Framework for a Future Mars Science Helicopter
Luca Di Pierno, Robert Hewitt, Stephan Weiss, Roland Brockers
https://arxiv.org/abs/2509.01980 https://

Hybrid Autonomy Framework for a Future Mars Science Helicopter
Autonomous aerial vehicles, such as NASA's Ingenuity, enable rapid planetary surface exploration beyond the reach of ground-based robots. Thus, NASA is studying a Mars Science Helicopter (MSH), an advanced concept capable of performing long-range science missions and autonomously navigating challenging Martian terrain. Given significant Earth-Mars communication delays and mission complexity, an advanced autonomy framework is required to ensure safe and efficient operation by continuously adapti…