Christian Ellis

Adapting Generalist Vehicle Models for High-Speed MPC Across Terrains

Rwik Rana, Jesse Quattrociocchi, Christian Ellis, Nathan Tsoi, Garrett Warnell, Joydeep Biswas

High-speed off-road autonomy requires precise closed-loop control for a target vehicle while remaining robust across changing terrains. Recent forward kinodynamic (FKD) prediction foundation models suggest a promising path, starting from a generalist model and specializing it to…Read more