Differentiable Dynamics for Autonomous Micro-Mobility Navigation

What happened

arXiv:2609.31885v1 Announce Type: new Abstract: Autonomous micro-mobility vehicles (MMVs) such as wheelchairs, scooters, and bicycles have the potential to improve mobility access and support safe low-speed transportation in pedestrian-shared spaces. However, many existing autonomous vehicle stacks rely on simplified kinematic models that fail to capture key MMV characteristics such as tire slip, friction, and wheel layouts, limiting realism and gradient-based optimization. In the open-loop setting, DiffGM3 outperforms DiffKBM in reproducing trajectories with improvements in ADE and NLL across bicycle, scooter, and motorcycle modes, and reductions in planning loss for bicycle and motorcycle trajectories.