RESEARCH / MOTAR / TECHNICAL

MOTAR — Technical Notes

The system architecture and engineering contract behind the case study — for readers who build these systems.

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System

From raw sensing to a bounded body-frame command.

CAMERA / RGB-D
RGB-D STREAM
TARGET TRACK
DETECTION + TRACKING
LIDAR
4 × 72 BEAMS
EGO STATE
ATTITUDE · VELOCITY
TARGET HISTORY
TRACK BUFFER
STRUCTURED OBSERVATION
898-D · 17 TOKENS
TRANSFORMER POLICY
10 Hz
BODY-FRAME COMMAND
BOUNDED
FLIGHT CONTROLLER
UAV
RIGID-BODY PHYSICS · 100 Hz

FINAL FIGURES — motar-system-overview.svg · motar-control-stack.svg (REPO)

System Contract

OBSERVATION
898 D
TOKENS
17
LIDAR
4 × 72
POLICY RATE
10 Hz
PHYSICS RATE
100 Hz
ARENA
40 × 40 m
TARGET SPEED
0.3 — 1.5 m/s