A learned perceptive forward dynamics model, trained on simulation and real data, improves pose prediction by 41% and navigation success in rough sim terrain when used inside an MPPI planner.
Badgr: An autonomous self-supervised learning-based navigation system
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Learned Perceptive Forward Dynamics Model for Safe and Platform-aware Robotic Navigation
A learned perceptive forward dynamics model, trained on simulation and real data, improves pose prediction by 41% and navigation success in rough sim terrain when used inside an MPPI planner.