Uncertainty-aware hybrid paradigm of nonlinear MPC and model-based RL for offroad navigation: Exploration of transformers in the predictive model
Faraz Lotfi,Khalil Virji,Farnoosh Faraji,Lucas Berry,Andrew Holliday,David Meger,Gregory Dudek,Faraz Lotfi,Khalil Virji,Farnoosh Faraji,Lucas Berry,Andrew Holliday,David Meger,Gregory Dudek
In this paper, we investigate a hybrid scheme that combines nonlinear model predictive control (MPC) and model-based reinforcement learning (RL) for navigation planning of an autonomous model car across offroad, unstructured terrains without relying on predefined maps. Our innovative approach takes inspiration from BADGR, an LSTM-based network that primarily concentrates on environment modeling, b...
