Release of datasets and trained models

This release contains dataset No. 1 to train and test terrain classifiers, slip regressors, and pre-trained ML models in Pytorch.

• datasets: this folder contains datasets for training terrain classifiers in train and valid, and training slip regressors in slip_models. In the test folder, there are testing subsets used for motion planning environments.
• trained_models: this folder contains trained ML models. As a terrain classifier, we adopt a simple Unet. As slip regressors, we use Gaussian process regressors implemented in gpytorch.

You can download datasets.zip and trained_models.zip and place them as ./datasets and ./trained_models after unzipping them, respectively.