Towards Capability-Aware Traversability Navigation for Unstructured Environments

Gianluca Capezzuto, Felipe Tommaselli, Matheus P. Angarola, Ricardo V. Godoy, and Marcelo Becker
Mobile Robotics Group, University of São Paulo, São Carlos, SP, Brazil

🎉 Accepted at IROS 2026 🎉

📄 Paper     |     🌐 Website     |     🤗 Dataset

This repository serves as the central data hub for the Capability-Aware Traversability (CAT) framework, specifically organizing the datasets and pre-trained models utilized in our research. It does not contain the source code implementation; rather, it hosts the dense, trajectory-grounded supervision masks collected from multiple robot embodiments, alongside the final model weights needed to reproduce our capability-conditioned traversability predictions.