Drive the wheelchair model
A model of the ChairNav power wheelchair (a Permobil M3), identified from the chair's own calibration drives; drag the stick to drive it.
Sim
Drag the stick
Model vs. the real chair
measured
model
stick forward
Same gatepost, two policies
From the ChairNav drives, matched by route position, not time. Mid-training, the rider has to correct; after human-in-the-loop post-training, the chair passes on its own.