A Sim-to-Real Single-Stage Planner for Off-Road Terrain
Note
The code will be released soon.
- 2025-7-1: YOPO-Sim, the off-road vehicle simulator, is released.
Please refer to the YOPO-Sim.
The terrain is exported as the point cloud map, and is then processed by TTA (Terrain Type Analysis) to generate the cost map.
cost-map-generation.mp4
The depth image, position, and orientation of the vehicle are recorded in the simulator.
Cone constraints are applied to each primitive anchor to confine the trajectory within the neural network’s output range.
trajectory-optimization.mp4
The planner inputs depth image, velocity, goal vector, and outputs the candidate trajectories with the corresponding cost.
inference.mp4
Please refer to the video for the experiment results.