ICRA 2024 Workshop on Resilient Off-road Autonomy

May 17th, 2024, in Yokohama, Japan

General Information

The field of off-road autonomy has been of great interest due to applications in various industries, such as agriculture, search and rescue, an d military operations. The dynamic and unpredictable nature of off-road environments poses unique challenges and opens avenues for all aspects of robotic research. The goal of this workshop is to engage experts and researchers in off-road autonomy, in a broad coverage of public datasets, benchmarks, software stacks, infrastructures, state estimation, semantic segmentation, traversability estimation, terrain analysis, planning, dynamics model, domain adaptation, and more.

This will be a full-day workshop. It will feature a mix of presentations, open panel discussions, and an invited poster session. There will be eight invited speakers and a keynote speaker to discuss their related research, thoughts, and experiences in various directions within off-road autonomy. The workshop aims to foster discussion, share insights, and encourage collaborations among experts from academia, industry, and research institutions, as well as to identify the key challenges and opportunities in the advancement of off-road autonomy technologies.

Sessions Overview

Presenter Session Title Time YouTube Link
Welcome message by organizers & overview of workshop

8:45 - 9:00 AM

Inwook Shim

Assistant Professor

Inha University

Learning Off-Road Terrain Traversability

9:00 - 9:20 AM

Ji Zhang

Systems Scientist


From Lidar SLAM to Full-scale Autonomy and Beyond

9:20 - 9:40 AM

Coffee Break

9:40-10:00 AM

Amy Tabb

Research PI


Calibration of Multiple-Camera Imaging Systems

10:00-10:20 AM

Xuesu Xiao

Assistant Professor

George Mason University

Learning Extreme Off-Road Mobility

10:20 - 10:40 AM

Poster Oral Session A

Spotlight Talks

10:40 - 11:00 AM

Poster session

Attendees can walk around to view presenters’ posters

11:00 AM - 12 PM


12:00 - 1:00 PM

Sebastian Scherer

Associate Research Professor, Robotics Institute

Carnegie Mellon University

Self-supervised Costmap Learning for Off-road Vehicle Traversability

1:00-1:20 PM

Maggie Wigness

Senior Computer Scientist

U.S. Army Research Laboratory

Human-Guided Machine Learning for Autonomous Navigation

1:20 - 1:40 PM

Paulo Borges

Principal Research Scientist


Robots in the Woods: Challenges and Multimodal Alternatives

1:40-2:00 PM

Coffee Break

2:00-2:20 PM

Martial Hebert

Dean, School of Computer Science

Carnegie Mellon University

Offroad Driving from 1984-2000

2:20-2:35 PM


Panel Discussion

2:35-3:10 PM

Marco Hutter

Professor of Robotics

ETH Zurich

Autonomous legged navigation: From structured to unstructured environments

3:10 - 3:30 PM

Poster Oral Session B

Spotlight Talks

3:30-3:50 PM

Ali Agha


Field AI

Resilient Robotic Autonomy Under Uncertainty

3:50-4:10 PM

Poster session

Attendees can walk around to view presenters’ posters

4:10-4:45 PM

Closing remarks

Workshop ends

4:45 - 5:00 PM

Call for Papers

Important dates (all times AoE)

  • Submissions open: Feb 1st 2024
  • Submission deadline: Apr 8th 2024
  • Decision notification: Apr 21th 2024
  • Camera-ready deadline: May 7th 2024
  • Workshop: May 17th 2024


Submission link: OpenReview.

In this workshop, we aim to bring together machine learning and robotics researchers who work at the intersection of these fields. Topics of interest include but are not limited to the following (all under the context of their roles in off-road autonomy):

  • Multi-modal perception
  • Self-supervised learning
  • Sim-to-real transfer
  • Online adaptation
  • Traversability estimation
  • Foundation models for navigation
  • Heterogeneous collaborative robots
  • Off-road driving dataset
  • Safe robot operation in uncertain and dynamic environments
  • Planning without prior knowledge of an environment
  • Approaches to off-road driving that work on multiple types of robots
  • Long-term localization and mapping in complex environments
  • Representations of terrain that model physical properties and robot-environment interaction

Accepted Talks and Posters

Accepted papers will be presented in the form of posters (with lightning talks) or spotlight talks at the workshop. We encourage submissions of work in progress, as well as work that is not yet published.

Submission instructions

Submissions should be short papers up to 4 pages in PDF format (not counting references and an optional appendix, which can go over the limit) This workshop will not provide formal official proceedings and the papers will be available on the workshop website.

Organizers & Committee

Wenshan Wang

Systems Scientist, Robotics Institute

Carnegie Mellon University

Eric Spero

Supervisory Engineer

US Army Research Laboratory

Youngwoo Seo

Executive Vice President

Hanwha Aerospace

Cherie Ho

PhD Candidate, Robotics Institute

Carnegie Mellon University

Carlos Nieto-Granda

Research Scientist

US Army Research Laboratory

John Rogers

Research Scientist

US Army Research Laboratory

Sebastian Scherer

Research Associate Professor, Robotics Institute

Carnegie Mellon University

Matthew Sivaprakasam

MSR Student, Robotics Institute

Carnegie Mellon University

Samuel Triest

PhD Student, Robotics Institute

Carnegie Mellon University

Katerina Fragkiadaki

Associate Professor, Machine Learning Department

Carnegie Mellon University

Jason Gregory

Robotics Researcher

US Army Research Laboratory

David Baran

Chief, Intelligence for Robotics Branch

US Army Research Laboratory

Udam Silva

Systems Engineer

US Army Research Laboratory

Mateo Guaman Castro

PhD Student

University of Washington