Occlusion-Aware, Quasi-Static, Stability-Oriented Trajectory Planning on Uneven Terrain

arXiv:2609.39105 · cs.RO · Submitted 2026-09-30 · Read on arXiv

cs.RO

Submitted: 2026-09-30

Updated: 2026-09-30

Code: https://github.com/ax-ml/jax

Terminology

• Ablation — 28× in this paper · explained in 1 episode
• Flow Matching — 17× in this paper · explained in 8 episodes
• Core — 7× in this paper · explained in 2 episodes
• Accuracy — 6× in this paper · explained in 1 episode
• Epistemic Uncertainty — 6× in this paper · explained in 9 episodes
• Fidelity — 4× in this paper · explained in 2 episodes
• Flow Matching Model — 4× in this paper · explained in 2 episodes
• International Conference on Robotics and Automation — 4× in this paper
• Nonlinear Least-Squares — 4× in this paper
• Reinforcement Learning — 4× in this paper · explained in 4 episodes
• Transformer — 4× in this paper · explained in 2 episodes
• Adaptation — 3× in this paper · explained in 1 episode
• Cross-Entropy Method — 3× in this paper
• Deep Reinforcement Learning — 3× in this paper · explained in 2 episodes
• Benchmark — 2× in this paper · explained in 2 episodes
• Benchmarking — 2× in this paper · explained in 3 episodes
• Diffusion Model — 2× in this paper · explained in 8 episodes
• Diffusion Models — 2× in this paper · explained in 6 episodes
• Digital Elevation Model — 2× in this paper
• Point Clouds — 2× in this paper · explained in 2 episodes
• Steering — 2× in this paper · explained in 2 episodes
• Ablation study — 1× in this paper · explained in 1 episode
• Active Exploration — 1× in this paper · explained in 2 episodes
• Admissibility — 1× in this paper · explained in 2 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• Data Provenance — 1× in this paper · explained in 2 episodes
• Deep Reinforcement Learning (DRL) — 1× in this paper · explained in 2 episodes
• Generative AI — 1× in this paper · explained in 2 episodes
• Neural Surrogates — 1× in this paper · explained in 2 episodes
• Optimal Transport — 1× in this paper · explained in 5 episodes
• Provenance — 1× in this paper · explained in 3 episodes
• Robot Operating System — 1× in this paper
• Robustness — 1× in this paper · explained in 5 episodes
• Sparsity — 1× in this paper · explained in 4 episodes
• Temporal consistency — 1× in this paper · explained in 2 episodes

Sources

• Efficient and Modular Implicit Differentiation
• CUTE-Planner: Confidence-aware Uneven Terrain Exploration Planner
• Improving and generalizing flow-based generative models with minibatch optimal transport
• Flow Matching Guide and Code
• M2UD: A Multi-model, Multi-scenario, Uneven-terrain Dataset for Ground Robot with Localization and Mapping Evaluation

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