An active-learning dual controller with model predictive diffusion is validated on F1-Tenth hardware, merging in 4.3 m on average versus 7.1 m for the prior dual MPPI method.
Interaction-aware trajectory planning for autonomous vehicles with analytic integration of neural networks into model predictive control,
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Dual Control for Interactive Autonomous Merging with Model Predictive Diffusion
An active-learning dual controller with model predictive diffusion is validated on F1-Tenth hardware, merging in 4.3 m on average versus 7.1 m for the prior dual MPPI method.