System Implementation

Wheelchair Autonomy

• RADIO–VLAD feature encoder running at 10 fps on Orin to semantically label terrain
• Cost-map pipeline fusing RGB features and projected point clouds into a BEV grid
• Bird’s-eye-view cost-map generation for downstream planning ​
• MPPI planner replanning every 100 ms over the live cost-map
• Velocity commands sent to the motor controller loop at 10 Hz

Isaac Sim

Wheeled Robot Basic Setup

• Full-stack NVIDIA Omniverse Isaac Sim environment mirroring real-world sidewalks, curbs, and obstacles
• Simulated sensors and MPPI waypoint manager enable end-to-end pipeline testing before field runs