RAY-TOLD combines ray-based latent dynamics from LiDAR with MPPI control and a learned policy prior via mixture sampling to lower collision rates in high-density dynamic obstacle environments compared to standard MPPI.
Collision-free robot navigation in crowded environments using learning based convex model predictive control,
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RAY-TOLD: Ray-Based Latent Dynamics for Dense Dynamic Obstacle Avoidance with TDMPC
RAY-TOLD combines ray-based latent dynamics from LiDAR with MPPI control and a learned policy prior via mixture sampling to lower collision rates in high-density dynamic obstacle environments compared to standard MPPI.