Author

Karel Zimmermann

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Preprint Sep 2026

Occlusion-Aware, Quasi-Static, Stability-Oriented Trajectory Planning on Uneven Terrain

Autonomous navigation in unstructured off-road environments requires reasoning about both vehicle--terrain interaction and environmental unknowns. We propose a model-based framework for generating quasi-static, stability-oriented reference trajectories for rigid, non-articulated four-wheeled vehicles on highly uneven t...

Amith Manoharan, Chinmay Mundane, Aayush Bahukhandi et al. · 0 citations

#machine learning Preprint Sep 2026

Ostrich: Taking Large Strides Through Stiff Contact in Differentiable Dynamics

Three properties determine whether a differentiable simulator can drive gradient-based optimization through contact: simulation accuracy, gradient reliability, and per-iteration cost. Tape-based engines such as MJX and Newton Semi-Implicit require timesteps small enough to keep contacts numerically tractable, and their...

A. Kučera, Karel Zimmermann · 1 citation