# Physical golf-cart autonomy
Source: https://kaustubhkr.github.io/projects/golf-cart.html

← Flagship work (https://kaustubhkr.github.io/work.html) 02 / Autonomous systems / physical vehicle CARLA → physical vehicle

# Autonomy on a physical golf cart

Deployed a learned-control stack on a physical golf cart, connecting an RL adapter to the vehicle’s industrial controls.
System Physical golf-cart autonomy
My contribution Controller development, RL adapter & vehicle deployment
Access Private implementation

Engineering & evidence MPCC comparison, modified PPO and SAC, and multi-head attention encoding, developed alongside CARLA experiments.
Private implementation. A separate vehicle project from the ICRA simulation entry.

Image: Kaustubh and the project team with the physical autonomous golf cart (https://kaustubhkr.github.io/assets/golf-cart.jpg)
The real golf cart, with the team. Physical vehicle project · separate from ICRA racing.

Technical deep dive Architecture, implementation & tradeoffs
System architecture Physical golf cart / controller integration

### Policy → adapter → vehicle

- 01

#### Compare

MPCC · modified PPO / SAC Classical and learned-control work across autonomous-driving experiments.

- 02

#### Encode

multi-head attention Encode driving observations for the learned vehicle controller.

- 03

#### Connect

RL adapter + industrial controls Integrate the learning controller with the physical control system.

- 04

#### Deploy

physical golf cart Run the autonomous-driving work on a real vehicle.

↖ The vehicle deployment includes the control integration, not only a trained policy in simulation.
Development CARLA and autonomous-driving experiments
Hardware Physical golf-cart deployment
Implementation Private local codebase

01 / Implementation

## Controllers and representation

- Compared MPCC with modified PPO/SAC in the autonomous-driving controller stack.

- Built a multi-head attention encoder as part of the learned-control work.

02 / Implementation

## From policy to vehicle

- Built the reinforcement-learning adapter and industrial-control integration for the physical golf cart.

- Carried the autonomous-driving work into real-vehicle execution; the implementation is private and stored locally.

Engineering note

## The adapter is part of the controller.

A trained policy needs a path into the physical control system. My work included that integration: the RL adapter, industrial controls and deployment on the vehicle, alongside the learning and classical-control methods.

Project context An independent autonomous-vehicle project, developed through CARLA experiments and deployed on a physical golf cart. The implementation is private.

Keep exploring

## World models. Policy optimisation.

↗ (https://kaustubhkr.github.io/projects/reinforcement-learning.html) RLx-Core / Reinforcement Learning Toolkit

END OF SECTION 7: projects/golf-cart.html