3 papers
cs.RO2026
Task-Oriented Active Learning of Residual Dynamics for Model Predictive Path Integral Control
Nobuaki Aoki, Hojin Lee, Stefan Sosnowski +1
Online residual learning can reduce model mismatch in predictive control, but passive data collection may fail to adequately cover states that become important later in the task. T…
cs.RO2026
Kernel-Based Metrics Learning for Uncertain Opponent Vehicle Trajectory Prediction in Autonomous Racing
Hojin Lee, Youngim Nam, Sanghun Lee +1
Autonomous racing confronts significant challenges in safely overtaking Opponent Vehicles (OVs) that exhibit uncertain trajectories, stemming from unknown driving policies. To addr…
cs.RO2026
Continual Learning for Traversability Prediction with Uncertainty-Aware Adaptation
Hojin Lee, Yunho Lee, Daniel A Duecker +1
Traversability prediction is a critical component of autonomous navigation in unstructured environments, where complex and uncertain robot-terrain interactions pose significant cha…