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.
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2026 2verdicts
UNVERDICTED 2representative citing papers
Hybrid RL-DWA controller for adaptive 3D navigation and deformation of multi-DoF robots in simulated vascular networks outperforms pure RL and model-based methods across 1080 trials.
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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.
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3D RL-DWA: A Hybrid Reinforcement Learning and Dynamic Window Approach for Goal-Directed Local Navigation in Multi-DoF Robots
Hybrid RL-DWA controller for adaptive 3D navigation and deformation of multi-DoF robots in simulated vascular networks outperforms pure RL and model-based methods across 1080 trials.