Improving Deep Dynamics Models for Autonomous Vehicles with Multimodal Latent Mapping of Surfaces
Johan Vertens,Nicolai Dorka,Tim Welschehold,Michael Thompson,Wolfram Burgard,Johan Vertens,Nicolai Dorka,Tim Welschehold,Michael Thompson,Wolfram Burgard
The safe deployment of autonomous vehicles relies on their ability to effectively react to environmental changes. This can require maneuvering on varying surfaces which is still a difficult problem, especially for slippery terrains. To address this issue we propose a new approach that learns a surface-aware dynamics model by conditioning it on a latent variable vector storing surface information a...
