打造可重构的室内越野测试场，推动机器人自主导航研究标准化。
Verti-Arena: A Controllable and Standardized Indoor Testbed for Multi-Terrain Off-Road Autonomy
- 设计可重配置的室内场地，支持多种垂直挑战地形
- 通过动作捕捉系统实现高精度地面真值测量
- 提供远程访问网页界面，支持全球团队统一实验
野外导航是移动机器人在人类难以进入或危险环境（如灾后救援、行星探测）中部署的关键能力。当前进展受限于缺乏可控且标准化的真实世界测试平台，难以系统化收集数据和验证性能。为此，我们提出Verti-Arena，一个专为野外自主性设计的可重构室内设施。该平台提供可重复的基准环境，支持多种垂直挑战地形的可重现实验，并通过机载传感器与动作捕捉系统实现精确的地面真值测量。同时，系统支持算法在野外自主性研究中的统一数据采集与对比评估。我们还开发了基于网页的远程访问界面，使全球研究团队可远程开展标准化的野外自主实验。
原文摘要 · Abstract (English)
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.
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