A structured learning approach for multistep distributional dynamics in belief space enables real-time risk-aware MPC, validated via ablation on real off-road data and deployment on a full-sized vehicle.
Dynamics modeling using visual terrain features for high-speed autonomous off-road driving
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Multistep Belief Space Dynamics Learning For Risk-Aware Control
A structured learning approach for multistep distributional dynamics in belief space enables real-time risk-aware MPC, validated via ablation on real off-road data and deployment on a full-sized vehicle.