{"paper":{"title":"CAPE: Control Algorithm Performance Evaluation under Learned Vehicle Dynamics Models","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"eess.SY","authors_text":"Krishna Bhavithavya Kidambi, Malik Ali, Musabbir Ahmed Arrafi, Nicholas M. Stiffler","submitted_at":"2026-06-03T21:58:35Z","abstract_excerpt":"We propose the Control Algorithm Performance Evaluation (CAPE) framework, a systematic methodology for benchmarking racing controllers under our proposed learned enhanced physics model (EPM). The proposed framework enables cross-controller comparison by evaluating five closed-loop control architectures. We further compare our proposed EPM with two state-of-the-art learned vehicle dynamics models: Deep Pacejka Model (DPM) and Deep-learning Dynamics Model (DDM). Closed-loop experiments show that across all models and controllers, the proposed EPM achieves best average lap times. Specifically, th"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.05480","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2606.05480/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}