## Appendix A Prompt
The grass beside 1  the road is not overly dense or tall, meaning the vehicle could drive over  it if necessary. Trees are present, but they are not directly blocking the  path./ Wet Conditions and Visibility-The slightly damp or wet road surface  might reduce traction slightly, but this should not pose a major issue for  a military armored vehicle. Additionally, the lighting conditions appear  overcast, which could slightly impact visibility but not enough to  significantly reduce drivability. Overall, the road and surrounding area  are mostly clear and traversable, with only minor concerns related to  potential wet ground conditions. ```  Drawable Probability: 95%  Reasons for Estimation:  Presence of a Clear Road-A compacted gravel or dirt road is visible, which  provides a solid surface for an armored vehicle to drive on. The road  appears to be in good condition with no major visible obstructions./  Minimal Obstacles-There are some trees and vegetation on the roadside, but  they do not encroach onto the road itself. The grass on the edges may be  slightly overgrown, but it does not pose a significant threat to  drivability./ Favorable Terrain-The road is relatively level, with no steep  inclines or difficult terrain features. The lighting conditions appear  somewhat overcast, possibly indicating recent rain, but there are no  visible deep puddles or mud that would hinder movement. The slight  uncertainty (5%) comes from potential unseen conditions like soft ground  due to moisture, but overall, the road is highly drivable for a military armored vehicle. ```
Drawable Probability: 80%  Reasons for Estimation:  Terrain Factors: The path is narrow to medium (score: 2 or 1), which  could slightly restrict maneuverability but is still manageable. The  surface is primarily gravel (1) with some soil (0), providing a relatively  stable driving surface. The ground appears wet (2), and possibly soft (2),  which might cause minor traction issues but is not a major concern for an armored vehicle./ Obstacle Factors: Trees and vegetation are present along  the sides, but they do not block the path. Grass is medium to long (1 or 2), and shrubs are small to medium (1 or 2), which means some minor  resistance but nothing the vehicle cannot push through. No large fallen  trees or major natural obstructions./ Environmental Factors: The weather  appears slightly rainy or overcast (1), meaning the surface could be  slightly wet and slippery, but visibility remains good (0). No deep water  or flooding present, eliminating concerns about hydroplanning or water-based  obstructions./ Gaussian Distribution for Drivable Probability: Mean : 80%, Standard Deviation : 8%, Distribution Shape: Slightly left-skewed  Gaussian (favoring high drivable probability but considering minor terrain  and wet surface issues) Overall, an 80% probability suggests that the  armored vehicle can navigate this path with some caution, mainly due to wet  conditions and potential softness in the terrain. However, no major  obstructions would prevent movement. ```

## Appendix B Orin Board

This section provides an overview of the ONNX model deployed on the Jetson Orin board and the results achieved through TensorRT optimization. We illustrate how the optimized model improves processing speed and efficiency, ensuring smooth real-time performance in autonomous driving scenarios. Figure 11 shows the Jetson Orin board along with the experimental setup, offering insights into the hardware environment used during the tests. In Figures 12 and 13, we present the inference results for various autonomous driving scenarios. These visualizations highlight the ability of the model to navigate complex terrains, detect obstacles, and operate smoothly in off-road environments. The TensorRT-optimized model demonstrates enhanced inference times, validating its effectiveness for real-time applications. Additionally, we explored cases where performance differences were observed, revealing that in certain scenarios, the model exhibited variations in predictions.