Pith Number

pith:RG5UNAH6

pith:2026:RG5UNAH6HKOQGC3PDPEKZ6SUFV

not attested not anchored not stored refs resolved

Multistep Belief Space Dynamics Learning For Risk-Aware Control

Bogdan Vlahov, Evangelos A. Theodorou, Jason Gibson, Patrick Spieler

A structured multistep approach to learning distributional dynamics enables risk-aware MPC that naturally regulates speed in off-road driving.

arxiv:2605.12628 v1 · 2026-05-12 · cs.RO

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\pithnumber{RG5UNAH6HKOQGC3PDPEKZ6SUFV}

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Record completeness

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2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

Our planning architecture is able to naturally regulate the speed of the vehicle based on the environment and consistently demonstrates intelligent behavior over miles of diverse terrain.

C2weakest assumption

That deviations from the proposed structure in learning distributional dynamics materially degrade MPC performance, and that the learned model generalizes beyond the specific off-road dataset without introducing hidden conservatism or instability.

C3one line summary

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.

References

58 extracted · 58 resolved · 1 Pith anchors

[1] A comprehensive review on autonomous navigation,

[2] Available: https://doi.org/10.1145/3727642 1 · doi:10.1145/3727642

[3] Parting with misconceptions about learning- based vehicle motion planning 2023

[4] Quantifying generalization in reinforcement learning, 2019

[5] A survey on unmanned surface vehicles for disaster robotics: Main challenges and directions, 2019

Formal links

2 machine-checked theorem links

Receipt and verification

First computed	2026-05-18T03:10:00.244299Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

89bb4680fe3a9d030b6f1bc8acfa542d7e2fc991d2b493a9d6d704dd90eea31d

Aliases

arxiv: 2605.12628 · arxiv_version: 2605.12628v1 · doi: 10.48550/arxiv.2605.12628 · pith_short_12: RG5UNAH6HKOQ · pith_short_16: RG5UNAH6HKOQGC3P · pith_short_8: RG5UNAH6

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/RG5UNAH6HKOQGC3PDPEKZ6SUFV \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 89bb4680fe3a9d030b6f1bc8acfa542d7e2fc991d2b493a9d6d704dd90eea31d

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "e66818d2231d172502eb365adbeb49ffed4b64b944298509caa012b535a18110",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-12T18:11:12Z",
    "title_canon_sha256": "c9acf5b2999973ca8890f38e6f2c2ce2861789aac27e493118eba82c39b5c6f2"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.12628",
    "kind": "arxiv",
    "version": 1
  }
}