Adam Polevoy Craig Knuth Katie M. Popek Kapil D. Katyal Complex Terrain Navigation via Model Error Prediction. 9411-9417 2022 ICRA https://doi.org/10.1109/ICRA46639.2022.9811644 conf/icra/2022 db/conf/icra/icra2022.html#PolevoyKPK22