{"kagg_id":"KAGG:2607.00009","slug":"2607.00009","title":"Predictive Contact-Aware Path Following for Agile Quadrupeds in Narrow Passages","authors":[{"name":"Felix Wagner","affiliation":"Legged Robotics Lab, Stanford University, Stanford, CA, USA"},{"name":"Ananya Iyer","affiliation":"Legged Robotics Lab, Stanford University, Stanford, CA, USA"},{"name":"Meilin Jiang","affiliation":"Legged Robotics Lab, Stanford University, Stanford, CA, USA"},{"name":"Carlos Ramirez","affiliation":"Legged Robotics Lab, Stanford University, Stanford, CA, USA"}],"affiliation":null,"abstract":"In narrow passages, the contact sequence of a quadruped's legs and the lag between commanded and realized body velocity decide whether the robot clears the gap, yet most path followers treat the body as a point with ideal velocity response. This paper presents a predictive contact-aware path follower that couples a calibrated model of the opaque velocity interface, obtained with GAUGE, with the configuration-based motion prediction of AgniNav. For each candidate command sequence, the follower predicts the realized body trajectory, the gait phase, and the swept leg envelope over a 0.5-1.0 s horizon; it schedules body poses and contact phases so that the legs nearest the passage boundary enter in a favorable phase, and it rejects passage entries whose predicted trajectory cannot clear the gap within the clearance and time budgets. The approach is evaluated in an Isaac Lab narrow-gate suite with doorway-scale gaps of 55-90 cm, rope barriers, and pipe runs, and in Unitree Go2 trials through a 72 cm doorway-scale gap and two rope barriers at setpoints of 1.0-3.0 m/s. Compared with point-body path following under an ideal velocity assumption, the method raises first-attempt success from 75.5 to 84.6 percent and shortens time to pass from 3.2 to 2.8 s, at the cost of a smaller mean clearance margin of 13.2 cm versus 15.1 cm. Removing contact-phase scheduling, future-range rejection, or the calibrated interface model reduces success to between 72.4 and 74.4 percent.","publication_date":"2026-07-30","registered_at":"2026-08-04T16:52:00Z","updated_at":"2026-08-04T19:52:00Z","status":"published","html_path":null,"pdf_path":"articles/2607.00009/paper.pdf","source_type":"preprint","source_label":"Kaggleyes Academy Preprint","license":"CC BY 4.0","has_doi":false,"external_doi":null,"references":[{"text":"S. Macenski, F. Martín, R. White, and J. Ginés Clavero. The Marathon 2: A Navigation System. arXiv:2003.00368, 2020.","identifier":"arXiv:2003.00368","url":"https://arxiv.org/abs/2003.00368"},{"text":"J. Hwangbo, J. Lee, A. Dosovitskiy, D. Bellicoso, V. Tsounis, V. Koltun, and M. Hutter. Learning Agile and Dynamic Motor Skills for Legged Robots. arXiv:1901.08652, 2019.","identifier":"arXiv:1901.08652","url":"https://arxiv.org/abs/1901.08652"},{"text":"J. Lee, J. Hwangbo, L. Wellhausen, V. Koltun, and M. Hutter. Learning Quadrupedal Locomotion over Challenging Terrain. arXiv:2010.11251, 2020.","identifier":"arXiv:2010.11251","url":"https://arxiv.org/abs/2010.11251"},{"text":"N. Rudin, D. Hoeller, P. Reist, and M. Hutter. Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning. arXiv:2109.11978, 2021.","identifier":"arXiv:2109.11978","url":"https://arxiv.org/abs/2109.11978"},{"text":"T. Miki, J. Lee, J. Hwangbo, L. Wellhausen, V. Koltun, and M. Hutter. Learning Robust Perceptive Locomotion for Quadrupedal Robots in the Wild. arXiv:2201.08117, 2022.","identifier":"arXiv:2201.08117","url":"https://arxiv.org/abs/2201.08117"},{"text":"T. Zang, H. Huang, S. Cheng, and W. Zhang. GAUGE: Planner-Conditioned Active Calibration of Opaque Quadruped Velocity Interfaces. arXiv:2607.02841, 2026.","identifier":"arXiv:2607.02841","url":"https://arxiv.org/abs/2607.02841"},{"text":"T. Zang, S. Cheng, H. Huang, S. Wang, and W. Zhang. AgniNav: Configuration-Driven Cross-Embodiment Local Planning for Robot Navigation. arXiv:2606.10903, 2026.","identifier":"arXiv:2606.10903","url":"https://arxiv.org/abs/2606.10903"},{"text":"A. Kumar, Z. Fu, D. Pathak, and J. Malik. RMA: Rapid Motor Adaptation for Legged Robots. arXiv:2107.04034, 2021.","identifier":"arXiv:2107.04034","url":"https://arxiv.org/abs/2107.04034"},{"text":"G. B. Margolis and P. Agrawal. Walk These Ways: Tuning Robot Control for Generalization with Multiplicity of Behavior. arXiv:2212.03238, 2022.","identifier":"arXiv:2212.03238","url":"https://arxiv.org/abs/2212.03238"},{"text":"G. B. Margolis, G. Yang, K. Paigwar, T. Chen, and P. Agrawal. Rapid Locomotion via Reinforcement Learning. arXiv:2205.02824, 2022.","identifier":"arXiv:2205.02824","url":"https://arxiv.org/abs/2205.02824"},{"text":"J. Tan, T. Zhang, E. Coumans, A. Iscen, Y. Bai, D. Hafner, S. Bohez, and V. Vanhoucke. Sim-to-Real: Learning Agile Locomotion For Quadruped Robots. arXiv:1804.10332, 2018.","identifier":"arXiv:1804.10332","url":"https://arxiv.org/abs/1804.10332"},{"text":"F. Farshidian, E. Jelavic, A. Satapathy, M. Giftthaler, and J. Buchli. Real-Time Motion Planning of Legged Robots: A Model Predictive Control Approach. arXiv:1710.04029, 2017.","identifier":"arXiv:1710.04029","url":"https://arxiv.org/abs/1710.04029"},{"text":"D. Kim, J. Di Carlo, B. Katz, G. Bledt, and S. Kim. Highly Dynamic Quadruped Locomotion via Whole-Body Impulse Control and Model Predictive Control. arXiv:1909.06586, 2019.","identifier":"arXiv:1909.06586","url":"https://arxiv.org/abs/1909.06586"},{"text":"R. Grandia, F. Jenelten, S. Yang, F. Farshidian, and M. Hutter. Perceptive Locomotion through Nonlinear Model Predictive Control. arXiv:2208.08373, 2022.","identifier":"arXiv:2208.08373","url":"https://arxiv.org/abs/2208.08373"},{"text":"F. Jenelten, J. He, F. Farshidian, and M. Hutter. DTC: Deep Tracking Control. arXiv:2309.15462, 2023.","identifier":"arXiv:2309.15462","url":"https://arxiv.org/abs/2309.15462"},{"text":"N. Rudin, D. Hoeller, M. Bjelonic, and M. Hutter. Advanced Skills by Learning Locomotion and Local Navigation End-to-End. arXiv:2209.12827, 2022.","identifier":"arXiv:2209.12827","url":"https://arxiv.org/abs/2209.12827"},{"text":"D. Hoeller, N. Rudin, D. Sako, and M. Hutter. ANYmal Parkour: Learning Agile Navigation for Quadrupedal Robots. arXiv:2306.14874, 2023.","identifier":"arXiv:2306.14874","url":"https://arxiv.org/abs/2306.14874"},{"text":"Z. Zhuang, Z. Fu, J. Wang, C. Atkeson, S. Schwertfeger, C. Finn, and H. Zhao. Robot Parkour Learning. arXiv:2309.05665, 2023.","identifier":"arXiv:2309.05665","url":"https://arxiv.org/abs/2309.05665"},{"text":"X. Cheng, K. Shi, A. Agarwal, and D. Pathak. Extreme Parkour with Legged Robots. arXiv:2309.14341, 2023.","identifier":"arXiv:2309.14341","url":"https://arxiv.org/abs/2309.14341"},{"text":"A. Agarwal, A. Kumar, J. Malik, and D. Pathak. Legged Locomotion in Challenging Terrains using Egocentric Vision. arXiv:2211.07638, 2022.","identifier":"arXiv:2211.07638","url":"https://arxiv.org/abs/2211.07638"},{"text":"Z. Fu, A. Kumar, A. Agarwal, H. Qi, J. Malik, and D. Pathak. Coupling Vision and Proprioception for Navigation of Legged Robots. arXiv:2112.02094, 2021.","identifier":"arXiv:2112.02094","url":"https://arxiv.org/abs/2112.02094"},{"text":"J. Truong, D. Yarats, T. Li, F. Meier, S. Chernova, D. Batra, and A. Rai. Learning Navigation Skills for Legged Robots with Learned Robot Embeddings. arXiv:2011.12255, 2020.","identifier":"arXiv:2011.12255","url":"https://arxiv.org/abs/2011.12255"},{"text":"J. Frey, D. Hoeller, S. Khattak, and M. Hutter. Locomotion Policy Guided Traversability Learning using Volumetric Representations of Complex Environments. arXiv:2203.15854, 2022.","identifier":"arXiv:2203.15854","url":"https://arxiv.org/abs/2203.15854"},{"text":"T. Miki, L. Wellhausen, R. Grandia, F. Jenelten, T. Homberger, and M. Hutter. Elevation Mapping for Locomotion and Navigation using GPU. arXiv:2204.12876, 2022.","identifier":"arXiv:2204.12876","url":"https://arxiv.org/abs/2204.12876"},{"text":"G. Williams, A. Aldrich, and E. Theodorou. Model Predictive Path Integral Control using Covariance Variable Importance Sampling. arXiv:1509.01149, 2015.","identifier":"arXiv:1509.01149","url":"https://arxiv.org/abs/1509.01149"},{"text":"G. Kahn, P. Abbeel, and S. Levine. BADGR: An Autonomous Self-Supervised Learning-Based Navigation System. arXiv:2002.05700, 2020.","identifier":"arXiv:2002.05700","url":"https://arxiv.org/abs/2002.05700"},{"text":"D. Shah, A. Sridhar, A. Bhorkar, N. Hirose, and S. Levine. GNM: A General Navigation Model to Drive Any Robot. arXiv:2210.03370, 2022.","identifier":"arXiv:2210.03370","url":"https://arxiv.org/abs/2210.03370"},{"text":"D. Shah, A. Sridhar, N. Dashora, K. Stachowicz, K. Black, N. Hirose, and S. Levine. ViNT: A Foundation Model for Visual Navigation. arXiv:2306.14846, 2023.","identifier":"arXiv:2306.14846","url":"https://arxiv.org/abs/2306.14846"},{"text":"A. Sridhar, D. Shah, C. Glossop, and S. Levine. NoMaD: Goal Masked Diffusion Policies for Navigation and Exploration. arXiv:2310.07896, 2023.","identifier":"arXiv:2310.07896","url":"https://arxiv.org/abs/2310.07896"},{"text":"A. D. Ames, S. Coogan, M. Egerstedt, G. Notomista, K. Sreenath, and P. Tabuada. Control Barrier Functions: Theory and Applications. arXiv:1903.11199, 2019.","identifier":"arXiv:1903.11199","url":"https://arxiv.org/abs/1903.11199"},{"text":"J. Tobin, R. Fong, A. Ray, J. Schneider, W. Zaremba, and P. Abbeel. Domain Randomization for Transferring Deep Neural Networks from Simulation to the Real World. arXiv:1703.06907, 2017.","identifier":"arXiv:1703.06907","url":"https://arxiv.org/abs/1703.06907"},{"text":"X. B. Peng, M. Andrychowicz, W. Zaremba, and P. Abbeel. Sim-to-Real Transfer of Robotic Control with Dynamics Randomization. arXiv:1710.06537, 2017.","identifier":"arXiv:1710.06537","url":"https://arxiv.org/abs/1710.06537"},{"text":"V. Makoviychuk, L. Wawrzyniak, Y. Guo, M. Lu, K. Storey, M. Macklin, D. Hoeller, N. Rudin, A. Allshire, A. Handa, and G. State. Isaac Gym: High Performance GPU-Based Physics Simulation for Robot Learning. arXiv:2108.10470, 2021.","identifier":"arXiv:2108.10470","url":"https://arxiv.org/abs/2108.10470"},{"text":"M. Mittal et al.. Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments. arXiv:2301.04195, 2023.","identifier":"arXiv:2301.04195","url":"https://arxiv.org/abs/2301.04195"},{"text":"A. Kadian, J. Truong, A. Gokaslan, A. Clegg, E. Wijmans, S. Lee, M. Savva, S. Chernova, and D. Batra. Sim2Real Predictivity: Does Evaluation in Simulation Predict Real-World Performance?. arXiv:1912.06321, 2019.","identifier":"arXiv:1912.06321","url":"https://arxiv.org/abs/1912.06321"},{"text":"N. Yokoyama, S. Ha, and D. Batra. Success Weighted by Completion Time: A Dynamics-Aware Evaluation Criteria for Embodied Navigation. arXiv:2103.08022, 2021.","identifier":"arXiv:2103.08022","url":"https://arxiv.org/abs/2103.08022"}],"canonical_url":"https://academy.kaggleyes.top/abs/KAGG:2607.00009","metadata":{"title":"Predictive Contact-Aware Path Following for Agile Quadrupeds in Narrow Passages","authors":[{"name":"Felix Wagner","affiliation":"Legged Robotics Lab, Stanford University, Stanford, CA, USA"},{"name":"Ananya Iyer","affiliation":"Legged Robotics Lab, Stanford University, Stanford, CA, USA"},{"name":"Meilin Jiang","affiliation":"Legged Robotics Lab, Stanford University, Stanford, CA, USA"},{"name":"Carlos Ramirez","affiliation":"Legged Robotics Lab, Stanford University, Stanford, CA, USA"}],"publication_date":"2026-07-30","abstract":"In narrow passages, the contact sequence of a quadruped's legs and the lag between commanded and realized body velocity decide whether the robot clears the gap, yet most path followers treat the body as a point with ideal velocity response. This paper presents a predictive contact-aware path follower that couples a calibrated model of the opaque velocity interface, obtained with GAUGE, with the configuration-based motion prediction of AgniNav. For each candidate command sequence, the follower predicts the realized body trajectory, the gait phase, and the swept leg envelope over a 0.5-1.0 s horizon; it schedules body poses and contact phases so that the legs nearest the passage boundary enter in a favorable phase, and it rejects passage entries whose predicted trajectory cannot clear the gap within the clearance and time budgets. The approach is evaluated in an Isaac Lab narrow-gate suite with doorway-scale gaps of 55-90 cm, rope barriers, and pipe runs, and in Unitree Go2 trials through a 72 cm doorway-scale gap and two rope barriers at setpoints of 1.0-3.0 m/s. Compared with point-body path following under an ideal velocity assumption, the method raises first-attempt success from 75.5 to 84.6 percent and shortens time to pass from 3.2 to 2.8 s, at the cost of a smaller mean clearance margin of 13.2 cm versus 15.1 cm. Removing contact-phase scheduling, future-range rejection, or the calibrated interface model reduces success to between 72.4 and 74.4 percent.","references":[{"text":"S. Macenski, F. Martín, R. White, and J. Ginés Clavero. The Marathon 2: A Navigation System. arXiv:2003.00368, 2020.","identifier":"arXiv:2003.00368","url":"https://arxiv.org/abs/2003.00368"},{"text":"J. Hwangbo, J. Lee, A. Dosovitskiy, D. Bellicoso, V. Tsounis, V. Koltun, and M. Hutter. Learning Agile and Dynamic Motor Skills for Legged Robots. arXiv:1901.08652, 2019.","identifier":"arXiv:1901.08652","url":"https://arxiv.org/abs/1901.08652"},{"text":"J. Lee, J. Hwangbo, L. Wellhausen, V. Koltun, and M. Hutter. Learning Quadrupedal Locomotion over Challenging Terrain. arXiv:2010.11251, 2020.","identifier":"arXiv:2010.11251","url":"https://arxiv.org/abs/2010.11251"},{"text":"N. Rudin, D. Hoeller, P. Reist, and M. Hutter. Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning. arXiv:2109.11978, 2021.","identifier":"arXiv:2109.11978","url":"https://arxiv.org/abs/2109.11978"},{"text":"T. Miki, J. Lee, J. Hwangbo, L. Wellhausen, V. Koltun, and M. Hutter. Learning Robust Perceptive Locomotion for Quadrupedal Robots in the Wild. arXiv:2201.08117, 2022.","identifier":"arXiv:2201.08117","url":"https://arxiv.org/abs/2201.08117"},{"text":"T. Zang, H. Huang, S. Cheng, and W. Zhang. GAUGE: Planner-Conditioned Active Calibration of Opaque Quadruped Velocity Interfaces. arXiv:2607.02841, 2026.","identifier":"arXiv:2607.02841","url":"https://arxiv.org/abs/2607.02841"},{"text":"T. Zang, S. Cheng, H. Huang, S. Wang, and W. Zhang. AgniNav: Configuration-Driven Cross-Embodiment Local Planning for Robot Navigation. arXiv:2606.10903, 2026.","identifier":"arXiv:2606.10903","url":"https://arxiv.org/abs/2606.10903"},{"text":"A. Kumar, Z. Fu, D. Pathak, and J. Malik. RMA: Rapid Motor Adaptation for Legged Robots. arXiv:2107.04034, 2021.","identifier":"arXiv:2107.04034","url":"https://arxiv.org/abs/2107.04034"},{"text":"G. B. Margolis and P. Agrawal. Walk These Ways: Tuning Robot Control for Generalization with Multiplicity of Behavior. arXiv:2212.03238, 2022.","identifier":"arXiv:2212.03238","url":"https://arxiv.org/abs/2212.03238"},{"text":"G. B. Margolis, G. Yang, K. Paigwar, T. Chen, and P. Agrawal. Rapid Locomotion via Reinforcement Learning. arXiv:2205.02824, 2022.","identifier":"arXiv:2205.02824","url":"https://arxiv.org/abs/2205.02824"},{"text":"J. Tan, T. Zhang, E. Coumans, A. Iscen, Y. Bai, D. Hafner, S. Bohez, and V. Vanhoucke. Sim-to-Real: Learning Agile Locomotion For Quadruped Robots. arXiv:1804.10332, 2018.","identifier":"arXiv:1804.10332","url":"https://arxiv.org/abs/1804.10332"},{"text":"F. Farshidian, E. Jelavic, A. Satapathy, M. Giftthaler, and J. Buchli. Real-Time Motion Planning of Legged Robots: A Model Predictive Control Approach. arXiv:1710.04029, 2017.","identifier":"arXiv:1710.04029","url":"https://arxiv.org/abs/1710.04029"},{"text":"D. Kim, J. Di Carlo, B. Katz, G. Bledt, and S. Kim. Highly Dynamic Quadruped Locomotion via Whole-Body Impulse Control and Model Predictive Control. arXiv:1909.06586, 2019.","identifier":"arXiv:1909.06586","url":"https://arxiv.org/abs/1909.06586"},{"text":"R. Grandia, F. Jenelten, S. Yang, F. Farshidian, and M. Hutter. Perceptive Locomotion through Nonlinear Model Predictive Control. arXiv:2208.08373, 2022.","identifier":"arXiv:2208.08373","url":"https://arxiv.org/abs/2208.08373"},{"text":"F. Jenelten, J. He, F. Farshidian, and M. Hutter. DTC: Deep Tracking Control. arXiv:2309.15462, 2023.","identifier":"arXiv:2309.15462","url":"https://arxiv.org/abs/2309.15462"},{"text":"N. Rudin, D. Hoeller, M. Bjelonic, and M. Hutter. Advanced Skills by Learning Locomotion and Local Navigation End-to-End. arXiv:2209.12827, 2022.","identifier":"arXiv:2209.12827","url":"https://arxiv.org/abs/2209.12827"},{"text":"D. Hoeller, N. Rudin, D. Sako, and M. Hutter. ANYmal Parkour: Learning Agile Navigation for Quadrupedal Robots. arXiv:2306.14874, 2023.","identifier":"arXiv:2306.14874","url":"https://arxiv.org/abs/2306.14874"},{"text":"Z. Zhuang, Z. Fu, J. Wang, C. Atkeson, S. Schwertfeger, C. Finn, and H. Zhao. Robot Parkour Learning. arXiv:2309.05665, 2023.","identifier":"arXiv:2309.05665","url":"https://arxiv.org/abs/2309.05665"},{"text":"X. Cheng, K. Shi, A. Agarwal, and D. Pathak. Extreme Parkour with Legged Robots. arXiv:2309.14341, 2023.","identifier":"arXiv:2309.14341","url":"https://arxiv.org/abs/2309.14341"},{"text":"A. Agarwal, A. Kumar, J. Malik, and D. Pathak. Legged Locomotion in Challenging Terrains using Egocentric Vision. arXiv:2211.07638, 2022.","identifier":"arXiv:2211.07638","url":"https://arxiv.org/abs/2211.07638"},{"text":"Z. Fu, A. Kumar, A. Agarwal, H. Qi, J. Malik, and D. Pathak. Coupling Vision and Proprioception for Navigation of Legged Robots. arXiv:2112.02094, 2021.","identifier":"arXiv:2112.02094","url":"https://arxiv.org/abs/2112.02094"},{"text":"J. Truong, D. Yarats, T. Li, F. Meier, S. Chernova, D. Batra, and A. Rai. Learning Navigation Skills for Legged Robots with Learned Robot Embeddings. arXiv:2011.12255, 2020.","identifier":"arXiv:2011.12255","url":"https://arxiv.org/abs/2011.12255"},{"text":"J. Frey, D. Hoeller, S. Khattak, and M. Hutter. Locomotion Policy Guided Traversability Learning using Volumetric Representations of Complex Environments. arXiv:2203.15854, 2022.","identifier":"arXiv:2203.15854","url":"https://arxiv.org/abs/2203.15854"},{"text":"T. Miki, L. Wellhausen, R. Grandia, F. Jenelten, T. Homberger, and M. Hutter. Elevation Mapping for Locomotion and Navigation using GPU. arXiv:2204.12876, 2022.","identifier":"arXiv:2204.12876","url":"https://arxiv.org/abs/2204.12876"},{"text":"G. Williams, A. Aldrich, and E. Theodorou. Model Predictive Path Integral Control using Covariance Variable Importance Sampling. arXiv:1509.01149, 2015.","identifier":"arXiv:1509.01149","url":"https://arxiv.org/abs/1509.01149"},{"text":"G. Kahn, P. Abbeel, and S. Levine. BADGR: An Autonomous Self-Supervised Learning-Based Navigation System. arXiv:2002.05700, 2020.","identifier":"arXiv:2002.05700","url":"https://arxiv.org/abs/2002.05700"},{"text":"D. Shah, A. Sridhar, A. Bhorkar, N. Hirose, and S. Levine. GNM: A General Navigation Model to Drive Any Robot. arXiv:2210.03370, 2022.","identifier":"arXiv:2210.03370","url":"https://arxiv.org/abs/2210.03370"},{"text":"D. Shah, A. Sridhar, N. Dashora, K. Stachowicz, K. Black, N. Hirose, and S. Levine. ViNT: A Foundation Model for Visual Navigation. arXiv:2306.14846, 2023.","identifier":"arXiv:2306.14846","url":"https://arxiv.org/abs/2306.14846"},{"text":"A. Sridhar, D. Shah, C. Glossop, and S. Levine. NoMaD: Goal Masked Diffusion Policies for Navigation and Exploration. arXiv:2310.07896, 2023.","identifier":"arXiv:2310.07896","url":"https://arxiv.org/abs/2310.07896"},{"text":"A. D. Ames, S. Coogan, M. Egerstedt, G. Notomista, K. Sreenath, and P. Tabuada. Control Barrier Functions: Theory and Applications. arXiv:1903.11199, 2019.","identifier":"arXiv:1903.11199","url":"https://arxiv.org/abs/1903.11199"},{"text":"J. Tobin, R. Fong, A. Ray, J. Schneider, W. Zaremba, and P. Abbeel. Domain Randomization for Transferring Deep Neural Networks from Simulation to the Real World. arXiv:1703.06907, 2017.","identifier":"arXiv:1703.06907","url":"https://arxiv.org/abs/1703.06907"},{"text":"X. B. Peng, M. Andrychowicz, W. Zaremba, and P. Abbeel. Sim-to-Real Transfer of Robotic Control with Dynamics Randomization. arXiv:1710.06537, 2017.","identifier":"arXiv:1710.06537","url":"https://arxiv.org/abs/1710.06537"},{"text":"V. Makoviychuk, L. Wawrzyniak, Y. Guo, M. Lu, K. Storey, M. Macklin, D. Hoeller, N. Rudin, A. Allshire, A. Handa, and G. State. Isaac Gym: High Performance GPU-Based Physics Simulation for Robot Learning. arXiv:2108.10470, 2021.","identifier":"arXiv:2108.10470","url":"https://arxiv.org/abs/2108.10470"},{"text":"M. Mittal et al.. Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments. arXiv:2301.04195, 2023.","identifier":"arXiv:2301.04195","url":"https://arxiv.org/abs/2301.04195"},{"text":"A. Kadian, J. Truong, A. Gokaslan, A. Clegg, E. Wijmans, S. Lee, M. Savva, S. Chernova, and D. Batra. Sim2Real Predictivity: Does Evaluation in Simulation Predict Real-World Performance?. arXiv:1912.06321, 2019.","identifier":"arXiv:1912.06321","url":"https://arxiv.org/abs/1912.06321"},{"text":"N. Yokoyama, S. Ha, and D. Batra. Success Weighted by Completion Time: A Dynamics-Aware Evaluation Criteria for Embodied Navigation. arXiv:2103.08022, 2021.","identifier":"arXiv:2103.08022","url":"https://arxiv.org/abs/2103.08022"}],"affiliation":null,"source_type":"preprint","source_label":"Kaggleyes Academy Preprint","license":"CC BY 4.0","has_doi":false,"external_doi":null,"status":"published","kagg_id":"KAGG:2607.00009","slug":"2607.00009","registered_at":"2026-08-04T16:52:00Z","updated_at":"2026-08-04T19:52:00Z","canonical_url":"https://academy.kaggleyes.top/abs/KAGG:2607.00009","resolver_url":"https://academy.kaggleyes.top/id/KAGG:2607.00009","tex_path":"articles/2607.00009/source.tex","typesetting":{"class":"kaggpreprint","version":"v1.0","engine":"XeLaTeX","rendered_at":"2026-08-04T19:09:00Z"}},"resolver_url":"https://academy.kaggleyes.top/id/KAGG:2607.00009"}