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In addition, our DFM-RTFNet achieves competitive performance on the KITTI road benchmark.A transparent digital twin (DT) is designed for output control using the belief rule base (BR, namely, DT-BRB. The goal of the transparent DT-BRB is not only to model the complex relationships between the system inputs and output but also to conduct output control by identifying and optimizing the key parameters in the model inputs. The proposed DT-BRB approach is composed of three major steps. First, BRB is adopted to model the relationships bet