LOCOMOTION
MAMMOTH：一种对缺失模态鲁棒的多模态端到端越野移动策略
Ahaan Kotian, Shivani Subramanyan, Suresh Sundaram
- 发表年份
- 2026
- 访问权限
- 开放获取
摘要
本文提出MAMMOTH，一种统一的多模态端到端导航策略，通过融合RGB、热成像、3D点云和自车速度等观测，并采用模态丢弃训练，实现了对传感器退化或单模态失效的鲁棒性。该方法在极端地形、光照变化和传感器退化条件下，显著提升了越野自主导航的可靠性。
关键词
off-road navigationmulti-modal fusionrobustnessautonomous navigationmodality dropout
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