Faraz Lotfi — accepted AI-conference papers

2025

Topological Mapping for Traversability-Aware Long-Range Navigation in Off-Road Terrain

Jean-François Tremblay, Julie Alhosh, Louis Petit, Faraz Lotfi, Lara Landauro, David Meger

ICRA 2025

Autonomous robots navigating in off-road terrain like forests open new opportunities for automation. While off-road navigation has been studied, existing work often relies on clearly delineated pathways. We present a method allowing for long-range planning, exploration and low-level control in unkno

Cited by 1 Source ↗Scholar ↗

2024

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 +1

ICRA 2024poster

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…

Cited by 4 Source ↗code ↗Scholar ↗