Gray-Box Model Predictive Control for Articulated Dump Trucks via Gaussian Process Learning of Sideslip

arXiv:2609.27597 · cs.RO, cs.SY, eess.SY · Submitted 2026-09-23 · Read on arXiv

cs.RO, cs.SY, eess.SY

Submitted: 2026-09-23

Updated: 2026-09-23

Terminology

• Accuracy — 9× in this paper · explained in 1 episode
• Steering — 4× in this paper · explained in 2 episodes
• Gaussian Process Regression — 3× in this paper
• Generalization — 1× in this paper · explained in 13 episodes
• Model Predictive Control (MPC) — 1× in this paper · explained in 5 episodes

Related papers

• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies
• Fine-tuning is Not Enough: A Parallel Framework for Collaborative Imitation and Reinforcement Learning in End-to-end Autonomous Driving