Differentiable robot-terrain interaction model for a tracked robot written using NVIDIA-Warp.

To train Terrain Encoder model with the L2-loss computed between predicted (by Differentiable Physics) and ground truth trajectories, run:

python terrain_optimization

The pretrained weights for the LSS Terrain Encoder can be downloaded from:

• RobinGas: lss_robingas_husky.pt, lss_robingas_tradr.pt, lss_robingas_husky_oru.pt,
• RELLIS-3D: lss_rellis3d.pt.

Once downloaded, please put the weights to config/weights/ folder.