Differentiable Dynamics for Autonomous Micro-Mobility Navigation

arXiv:2609.31885 · cs.RO · Submitted 2026-09-25 · Read on arXiv

cs.RO

Submitted: 2026-09-25

Updated: 2026-09-25

Terminology

• Steering — 16× in this paper · explained in 2 episodes
• Kinematic Bicycle Model — 5× in this paper
• Loss Function — 4× in this paper · explained in 2 episodes
• Model Predictive Control (MPC) — 2× in this paper · explained in 5 episodes
• Accuracy — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Core — 1× in this paper · explained in 2 episodes
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Gradient Flow — 1× in this paper · explained in 2 episodes
• IEEE Intelligent Vehicles Symposium — 1× in this paper
• IEEE International Intelligent Transportation Systems Conference — 1× in this paper
• Imitation Learning (IL) — 1× in this paper · explained in 2 episodes
• Infrastructural Multi-Person Trajectory and Context — 1× in this paper
• Regularization — 1× in this paper · explained in 3 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• System Identification — 1× in this paper · explained in 3 episodes
• Transformer — 1× in this paper · explained in 2 episodes

Sources

• HEIGHT: Heterogeneous Interaction Graph Transformer for Robot Navigation in Crowded and Constrained Environments
• Differentiable Robust Model Predictive Control
• Highly-Efficient Differentiable Simulation for Robotics
• GM3: A General Physical Model for Micro-Mobility Vehicles
• Autonomous Vehicle Controllers From End-to-End Differentiable Simulation
• Turning Circle-based Control Barrier Function for Efficient Collision Avoidance of Nonholonomic Vehicles

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