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[Submitted on 15 Sep 2026] Title:DRT&R: Direct Radar Teach & Repeat View a PDF of the paper titled DRT&R: Direct Radar Teach & Repeat, by Alexander Krawciw and 3 other authors View PDF HTML (experimental) Abstract:Radar-based navigation is appealing for its robustness to adverse conditions involving airborne particles, such as precipitation, dust, fog, and smoke, that can cause lidar-based systems to fail. Recently, direct methods that retain and use the entire radar scan rather than sparse points have improved on-road global localization performance. However, they have yet to be deployed in off-road environments or in closed-loop systems. Additionally, even direct global maps may lose information: their global nature leads to a smoothing out of viewpoint-dependent radar artifacts, which can provide pose information when mapping and localization occur along similar trajectories. This paper introduces Direct Radar Teach & Repeat (DRT&R): a direct spinning radar-based navigation stack that maximizes the amount of retained information by combining direct radar processing with local mapping. DRT&R yields state-of-the-art (SOTA) localization performance in both on-road and off-road environments. Using 344 km of on-road data and 20 km of off-road data, DRT&R is able to localize to within 4 cm in most on-road and off-road conditions, and 12 cm in geometrically degenerate and sparse environments. DRT&R is also evaluated autonomously in closed loop with an MPC controller for more than 10 km using a Clearpath Warthog off-road vehicle, demonstrating that it runs in real time and achieves SOTA tracking performance for off-road radar navigation. Comments: 8 pages, 7 figures, paper under review Subjects: Robotics (cs.RO) Cite as: arXiv:2609.17766 [cs.RO] (or arXiv:2609.17766v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2609.17766 arXiv-issued DOI via DataCite (pending registration) Submission history From: Daniil Lisus [view email] [v1] Tue, 15 Sep 2026 19:13:53 UTC (3,628 KB) Full-text links: Access Paper: View a PDF of the paper titled DRT&R: Direct Radar Teach & Repeat, by Alexander Krawciw and 3 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-09 Change to browse by: cs References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)