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

- Source: arXiv cs.RO
- Published: 2026-10-19T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/yxdtb4hge3xtv0i6v9l9vg11g
- Original: https://arxiv.org/abs/2607.13319

## Summary

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.