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About this paper
Insung Yang, Eunchae Kim, Jungwoo Hur, Seunghun Jeon, Donghyuk Choi, Jemin Hwangbo
The system enables quadruped wagon towing through tight spaces by combining CFM candidate generation with MPPI refinement using a learned FDM. In an unseen hard Corridor simulation, Flow + MPPI achieved 72.5% success versus 29.5% for vanilla MPPI across 200 trials per method. On unmapped 15 m courses, it completed 34 of 40 trials on the tested platform.
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