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OptCar: Specializing a Generalist FKD Model into a High-Speed MPC-Specific Model with Limited Real-Vehicle Data

The paper proposes OptCar, a method that specializes a generalist forward kinodynamic (FKD) model into a vehicle-specific model while preserving cross-terrain generalization. At its core, a FiLM mechanism summarizes recent state-action history into a single dynamics context token that conditions multi-step predictions in a Transformer FKD architecture; specialization then combines limited real-vehicle data with targeted synthetic trajectories generated by system identification.

Part of the event: OptCar: Specializing a General FKD Model with Small Amounts of Real-Vehicle Data

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