Author

Steven Visch

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#machine learning Preprint Sep 2026

CAVEAT: Recurrent Multimodal Diffusion Planning for Mapless Aerial Exploration

CAVEAT, a diffusion policy conditioned on a recurrent internal state updated from fused LiDAR, visual, and pose features and trained from trajectories generated by the map-based FUELv2 expert, is investigated through simulation.

Steven Visch, Nicolò Botteghi, Antonio Franchi et al. · 0 citations