Verti-Arena: A Controllable and Standardized Indoor Testbed for Multi-Terrain Off-Road Autonomy
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arXiv
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| Format: | Preprint |
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2025
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| _version_ | 1866912694930505728 |
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| author | Chen, Haiyue Datar, Aniket Xu, Tong Cancelliere, Francesco Rangwala, Harsh Rao, Madhan Balaji Song, Daeun Eichinger, David Xiao, Xuesu |
| author_facet | Chen, Haiyue Datar, Aniket Xu, Tong Cancelliere, Francesco Rangwala, Harsh Rao, Madhan Balaji Song, Daeun Eichinger, David Xiao, Xuesu |
| contents | Off-road navigation is an important capability for mobile robots deployed in environments that are inaccessible or dangerous to humans, such as disaster response or planetary exploration. Progress is limited due to the lack of a controllable and standardized real-world testbed for systematic data collection and validation. To fill this gap, we introduce Verti-Arena, a reconfigurable indoor facility designed specifically for off-road autonomy. By providing a repeatable benchmark environment, Verti-Arena supports reproducible experiments across a variety of vertically challenging terrains and provides precise ground truth measurements through onboard sensors and a motion capture system. Verti-Arena also supports consistent data collection and comparative evaluation of algorithms in off-road autonomy research. We also develop a web-based interface that enables research groups worldwide to remotely conduct standardized off-road autonomy experiments on Verti-Arena. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2508_08226 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Verti-Arena: A Controllable and Standardized Indoor Testbed for Multi-Terrain Off-Road Autonomy Chen, Haiyue Datar, Aniket Xu, Tong Cancelliere, Francesco Rangwala, Harsh Rao, Madhan Balaji Song, Daeun Eichinger, David Xiao, Xuesu Robotics Off-road navigation is an important capability for mobile robots deployed in environments that are inaccessible or dangerous to humans, such as disaster response or planetary exploration. Progress is limited due to the lack of a controllable and standardized real-world testbed for systematic data collection and validation. To fill this gap, we introduce Verti-Arena, a reconfigurable indoor facility designed specifically for off-road autonomy. By providing a repeatable benchmark environment, Verti-Arena supports reproducible experiments across a variety of vertically challenging terrains and provides precise ground truth measurements through onboard sensors and a motion capture system. Verti-Arena also supports consistent data collection and comparative evaluation of algorithms in off-road autonomy research. We also develop a web-based interface that enables research groups worldwide to remotely conduct standardized off-road autonomy experiments on Verti-Arena. |
| title | Verti-Arena: A Controllable and Standardized Indoor Testbed for Multi-Terrain Off-Road Autonomy |
| topic | Robotics |
| url | https://arxiv.org/abs/2508.08226 |