相关论文: AutoTune: Controller Tuning for High-Speed Flight

The performance of robots in high-level tasks depends on the quality of their lower-level controller, which requires fine-tuning. However, the intrinsically nonlinear dynamics and controllers make tuning a challenging task when it is done…

Automatic performance tuning (auto-tuning) is widely used to optimize performance-critical applications across many scientific domains by finding the best program variant among many choices. Efficient optimization algorithms are crucial for…

Robot navigation systems are critical for various real-world applications such as delivery services, hospital logistics, and warehouse management. Although classical navigation methods provide interpretability, they rely heavily on expert…

Controller tuning is a vital step to ensure the controller delivers its designed performance. DiffTune has been proposed as an automatic tuning method that unrolls the dynamical system and controller into a computational graph and uses…

Machine learning applications often require hyperparameter tuning. The hyperparameters usually drive both the efficiency of the model training process and the resulting model quality. For hyperparameter tuning, machine learning algorithms…

The ever-growing demand and complexity of machine learning are putting pressure on hyper-parameter tuning systems: while the evaluation cost of models continues to increase, the scalability of state-of-the-arts starts to become a crucial…

Disturbance observer-based control has shown promise in robustifying robotic systems against uncertainties. However, tuning such systems remains challenging due to the strong coupling between controller gains and observer parameters. In…

Big data analytics frameworks (BDAFs) have been widely used for data processing applications. These frameworks provide a large number of configuration parameters to users, which leads to a tuning issue that overwhelms users. To address this…

Realtime model learning proves challenging for complex dynamical systems, such as drones flying in variable wind conditions. Machine learning technique such as deep neural networks have high representation power but is often too slow to…

Autotuning of performance-relevant source-code parameters allows to automatically tune applications without hard coding optimizations and thus helps with keeping the performance portable. In this paper, we introduce a benchmark set of ten…

MLtuner automatically tunes settings for training tunables (such as the learning rate, the momentum, the mini-batch size, and the data staleness bound) that have a significant impact on large-scale machine learning (ML) performance.…

To automatically tune configurations for the best possible system performance (e.g., runtime or throughput), much work has been focused on designing intelligent heuristics in a tuner. However, existing tuner designs have mostly ignored the…

Over the last decade, the use of autonomous drone systems for surveying, search and rescue, or last-mile delivery has increased exponentially. With the rise of these applications comes the need for highly robust, safety-critical algorithms…

Novel technologies in automated machine learning ease the complexity of algorithm selection and hyperparameter optimization. Hyperparameters are important for machine learning models as they significantly influence the performance of…

Nowadays, GPU accelerators are commonly used to speed up general-purpose computing tasks on a variety of hardware. However, due to the diversity of GPU architectures and processed data, optimization of codes for a particular type of…

Modern automated driving solutions utilize trajectory planning and control components with numerous parameters that need to be tuned for different driving situations and vehicle types to achieve optimal performance. This paper proposes a…

Parameter tuning is a powerful approach to enhance adaptability in model predictive control (MPC) motion planners. However, existing methods typically operate in a myopic fashion that only evaluates executed actions, leading to inefficient…

Interactive applications incorporating high-data rate sensing and computer vision are becoming possible due to novel runtime systems and the use of parallel computation resources. To allow interactive use, such applications require careful…

Humans race drones faster than algorithms, despite being limited to a fixed camera angle, body rate control, and response latencies in the order of hundreds of milliseconds. A better understanding of the ability of human pilots of selecting…

Performance tuning can improve the system performance and thus enable the reduction of cloud computing resources needed to support an application. Due to the ever increasing number of parameters and complexity of systems, there is a…