Publications

2026

1. TartanDrive 3: Scaling Full-Stack Data Across Modalities, Behaviors, and Extreme Environments

   Micah Nye^†, Matthew Sivaprakasam^†, Saksham Sharma, and 9 more authors

   In Submission

2. 

   Structured Perception Representations for Off-road Dynamics Learning

   Micah Nye, Samuel Triest, Matthew Sivaprakasam, and 3 more authors

   In Conference on Robot Learning (CoRL), 2026

   arXiv Website Video Bib

   @inproceedings{nye2026struc,
     title = {Structured Perception Representations for Off-road Dynamics Learning},
     author = {Nye, Micah and Triest, Samuel and Sivaprakasam, Matthew and Adu, Isaiah and Scherer, Sebastian and Wang, Wenshan},
     booktitle = {Conference on Robot Learning (CoRL)},
     year = {2026},
     month = nov,
     eprint = {2610.22900},
     archiveprefix = {arXiv},
     primaryclass = {cs.RO},
     url = {https://arxiv.org/abs/2610.22900},
   }

3. 

   Distilling Global Traversability Priors for Image-based Affordance Prediction in Off-road Environments

   Matthew Sivaprakasam, Samuel Triest, Micah Nye, and 5 more authors

   In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2026

   arXiv Website Video Bib

   @inproceedings{sivaprakasam2026distilling,
     title = {Distilling Global Traversability Priors for Image-based Affordance Prediction in Off-road Environments},
     author = {Sivaprakasam, Matthew and Triest, Samuel and Nye, Micah and Atha, Deegan and Khattak, Shehryar and Fan, David and Wang, Wenshan and Scherer, Sebastian},
     booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     year = {2026},
     month = sep,
     eprint = {2607.17984},
     archiveprefix = {arXiv},
     primaryclass = {cs.RO},
     url = {https://arxiv.org/abs/2607.17984},
   }

4. 

   A Quantitative Analysis of Undergraduate Researchers’ Intent to Apply to Graduate School

   R. Burcin, Micah Nye, I. Adu, and 2 more authors

   In IEEE World Engineering Education Conference (EDUNINE), 2026

   Paper Bib

   @inproceedings{nye2026weec,
     title = {A Quantitative Analysis of Undergraduate Researchers' Intent to Apply to Graduate School},
     author = {Burcin, R. and Nye, Micah and Adu, I. and Mruthyunjaya, V. and Dolan, J. M.},
     booktitle = {IEEE World Engineering Education Conference (EDUNINE)},
     year = {2026},
     month = mar,
     url = {https://ieeexplore.ieee.org/abstract/document/11546908},
   }

2025

1. 

   BETTY Dataset: A Multi-modal Dataset for Full-Stack Autonomy

   Micah Nye, A. Raji, Andrew Saba, and 9 more authors

   In IEEE International Conference on Robotics and Automation (ICRA), 2025

   arXiv Website DOI Bib

   @inproceedings{nye2025betty,
     title = {{BETTY} Dataset: A Multi-modal Dataset for Full-Stack Autonomy},
     author = {Nye, Micah and Raji, A. and Saba, Andrew and Erlich, E. and Exley, R. and Goyal, A. and Matros, A. and Misra, R. and Sivaprakasam, Matthew and Bertogna, M. and Ramanan, Deva and Scherer, Sebastian},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2025},
     pages = {2453--2460},
     doi = {10.1109/ICRA55743.2025.11127350},
     url = {https://arxiv.org/abs/2505.07266v1},
   }

2024

1. 

   TartanDrive 2.0: More Modalities and Better Infrastructure to Further Self-Supervised Learning Research in Off-Road Driving Tasks

   Matthew Sivaprakasam, Parv Maheshwari, Mateo Guaman Castro, and 6 more authors

   In IEEE International Conference on Robotics and Automation (ICRA), 2024

   arXiv Website Video Code Paper DOI Bib

   @inproceedings{sivaprakasam2024tartandrive2,
     title = {{TartanDrive} 2.0: More Modalities and Better Infrastructure to Further Self-Supervised Learning Research in Off-Road Driving Tasks},
     author = {Sivaprakasam, Matthew and Maheshwari, Parv and Castro, Mateo Guaman and Triest, Samuel and Nye, Micah and Willits, S. and Saba, Andrew and Wang, Wenshan and Scherer, Sebastian},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2024},
     pages = {12606},
     doi = {10.1109/ICRA57147.2024.10611265},
     url = {https://theairlab.org/TartanDrive2/assets/TartanDrive_2_0_ICRA_2024.pdf},
   }

2. 

   Fast and Modular Autonomy Software for Autonomous Racing Vehicles

   Andrew Saba, Aderotimi Adetunji, Adam Johnson, and 27 more authors

   Field Robotics, 2024

   now retitled as IEEE Transactions on Field Robotics

   arXiv Paper DOI Bib

   @article{saba2024racing,
     title = {Fast and Modular Autonomy Software for Autonomous Racing Vehicles},
     author = {Saba, Andrew and Adetunji, Aderotimi and Johnson, Adam and Kothari, Aadi and Sivaprakasam, Matthew and Spisak, Joshua and Bharatia, Prem and Chauhan, Arjun and Duff, Jr., Brendan and Gasparro, Noah and King, Charles and Larkin, Ryan and Mao, Brian and Nye, Micah and Parashar, Anjali and Attias, Joseph and Balciumas, Aurimas and Brown, Austin and Chang, Chris and Gao, Ming and Heredia, Cindy and Keats, Andrew and Lavariega, Jose and Muckleroy, III, William and Slavescu, Andre and Stathas, Nicholas and Suvarna, Nayana and Zhang, Cin Tuan and Scherer, Sebastian and Ramanan, Deva},
     journaltitle = {Field Robotics},
     volume = {4},
     pages = {1--45},
     year = {2024},
     doi = {10.55417/fr.2024001},
     note = {now retitled as IEEE Transactions on Field Robotics},
     url = {https://ieeexplore.ieee.org/document/10876003},
   }

2023

1. 

   Simulation and Control for Learning Collision-free Navigation for Aerial Vehicles

   Micah Nye, Micah Corah, and Sebastian Scherer

   Robotics Institute of Summer Scholars Working Papers Journal, 2023

   Video Poster Paper Bib

   @article{nye2023riss,
     title = {Simulation and Control for Learning Collision-free Navigation for Aerial Vehicles},
     author = {Nye, Micah and Corah, Micah and Scherer, Sebastian},
     journaltitle = {Robotics Institute of Summer Scholars Working Papers Journal},
     volume = {11},
     year = {2023},
     url = {https://drive.google.com/file/d/1ZlZ-vXaElgNgiJP2SVWEBw89i3ssk5hl/view?usp=share_link},
   }

2. 

   TartanDrive 1.5: Improving Large Multimodal Robotics Dataset Collection and Distribution

   Matthew Sivaprakasam, Samuel Triest, Mateo Guaman Castro, and 6 more authors

   In IEEE International Conference on Robotics and Automation (ICRA) Workshop on Pretraining for Robotics (PT4R), 2023

   Paper Bib

   @inproceedings{sivaprakasam2023tartandrive15,
     title = {{TartanDrive} 1.5: Improving Large Multimodal Robotics Dataset Collection and Distribution},
     author = {Sivaprakasam, Matthew and Triest, Samuel and Castro, Mateo Guaman and Nye, Micah and Maulimov, Mukhtar and Ho, Cherie and Maheshwari, Parv and Wang, Wenshan and Scherer, Sebastian},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA) Workshop on Pretraining for Robotics (PT4R)},
     year = {2023},
     keywords = {workshop},
     url = {https://openreview.net/forum?id=7Y1pnhFJUT},
   }