{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/fast-and-robust-bio-inspired-teach-and-repeat","title":"Fast and Robust Bio-inspired Teach and Repeat Navigation","arxiv_id":"2010.11326","date":"2020-10-21","proceeding":null,"authors":["Dominic Dall'Osto","Tobias Fischer","Michael Milford"],"abstract":"Fully autonomous mobile robots have a multitude of potential applications, but guaranteeing robust navigation performance remains an open research problem. For many tasks such as repeated infrastructure inspection, item delivery, or inventory transport, a route repeating capability can be sufficient and offers potential practical advantages over a full navigation stack. Previous teach and repeat research has achieved high performance in difficult conditions predominantly by using sophisticated, expensive sensors, and has often had high computational requirements. Biological systems, such as small animals and insects like seeing ants, offer a proof of concept that robust and generalisable navigation can be achieved with extremely limited visual systems and computing power. In this work we create a novel asynchronous formulation for teach and repeat navigation that fully utilises odometry information, paired with a correction signal driven by much more computationally lightweight visual processing than is typically required. This correction signal is also decoupled from the robot's motor control, allowing its rate to be modulated by the available computing capacity. We evaluate this approach with extensive experimentation on two different robotic platforms, the Consequential Robotics Miro and the Clearpath Jackal robots, across navigation trials totalling more than 6000 metres in a range of challenging indoor and outdoor environments. Our approach continues to succeed when multiple state-of-the-art systems fail due to low resolution images, unreliable odometry, or lighting change, while requiring significantly less compute. We also - for the first time - demonstrate versatile cross-platform teach and repeat without changing parameters, in which we learn to navigate a route with one robot and repeat that route using a completely different robot.","url_abs":"https://arxiv.org/abs/2010.11326v3","url_pdf":"https://arxiv.org/pdf/2010.11326v3.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"fast-and-robust-bio-inspired-teach-and-repeat","repo_url":"https://github.com/QVPR/teach-repeat","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2010.11326","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2010.11326"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-24T18:15:14+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. Samples come from repositories linked to the paper, official or community; repo_kind says which.","repos":[{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/QVPR/teach-repeat","reach":null}],"summary":{"ran_draft_wrong":1,"ran_violates":1},"by_repo_kind":{"official":{"samples":2,"ran":2,"repositories":1}},"repo_kind_vocabulary":{"official":"The archive marks this repository official for the paper","named_in_paper":"The archive records that the paper mentions this repository; it is not marked official","listed":"In the archive's code links for this paper, not marked official and not recorded as mentioned in the paper","found_in_text":"Syntology found this repository in the paper's own text; whether it is the authors' implementation is not asserted","community":"Not in the archive's code links for this paper; a community repository Syntology harvested"},"n_pointer_only_for_licence":0,"samples":[{"code_sha256_prefix":"a5475924efbab98a","entry":"read_file","repo":"QVPR/teach-repeat","repo_kind":"official","path":"nodes/localiser.py","file_url":"https://github.com/QVPR/teach-repeat/blob/HEAD/nodes/localiser.py","link_basis":"first_harvest_node","language":"python","status":"ran_draft_wrong","verification_level":1,"contract_check":"OUTPUT_MISDECLARED","metamorphic_tier":"deterministic","behaviour_fingerprint":false,"licence":"BSD-2-Clause","inline_ok":true,"mcp_get_code":{"code_sha256":"a5475924efbab98a"}},{"code_sha256_prefix":"84ebc38fdd7b95f3","entry":"wrapToPi","repo":"QVPR/teach-repeat","repo_kind":"official","path":"nodes/localiser.py","file_url":"https://github.com/QVPR/teach-repeat/blob/HEAD/nodes/localiser.py","link_basis":"first_harvest_node","language":"python","status":"ran_violates","verification_level":1,"contract_check":"VIOLATES","metamorphic_tier":"well_formed","behaviour_fingerprint":true,"licence":"BSD-2-Clause","inline_ok":true,"mcp_get_code":{"code_sha256":"84ebc38fdd7b95f3"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}