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

Pre-trained models have been shown effective in many code intelligence tasks. These models are pre-trained on large-scale unlabeled corpus and then fine-tuned in downstream tasks. However, as the inputs to pre-training and downstream tasks…

In the evolving landscape of high-speed agile quadrotor flight, achieving precise trajectory tracking at the platform's operational limits is paramount. Controllers must handle actuator constraints, exhibit robustness to disturbances, and…

Heterogeneous computing, which combines devices with different architectures, is rising in popularity, and promises increased performance combined with reduced energy consumption. OpenCL has been proposed as a standard for programing such…

Almost all optimization algorithms have algorithm-dependent parameters, and the setting of such parameter values can largely influence the behaviour of the algorithm under consideration. Thus, proper parameter tuning should be carried out…

This paper describes a methodology for learning flight control systems from human demonstrations and interventions while considering the estimated uncertainty in the learned models. The proposed approach uses human demonstrations to train…

Dynamically changing environments, unreliable state estimation, and operation under severe resource constraints are fundamental challenges that limit the deployment of small autonomous drones. We address these challenges in the context of…

Unmanned aerial vehicles, and multi-rotors in particular, can now perform dexterous tasks in impervious environments, from infrastructure monitoring to emergency deliveries. Autonomous drone racing has emerged as an ideal benchmark to…

Much research in the last two decades has focused on Virtual Topology Reconfiguration (VTR) problem. However, most of the proposed methods either has low controllability, or the analysis of a control parameter is limited to empirical…

Tuning a database system to achieve optimal performance on a given workload is a long-standing problem in the database community. A number of recent works have leveraged ML-based approaches to guide the sampling of large parameter spaces…

Learning robot tasks or controllers using deep reinforcement learning has been proven effective in simulations. Learning in simulation has several advantages. For example, one can fully control the simulated environment, including halting…

With the ever-increasing number of pretrained models, machine learning practitioners are continuously faced with which pretrained model to use, and how to finetune it for a new dataset. In this paper, we propose a methodology that jointly…

Many autonomous driving motion planners generate trajectories by optimizing a reward/cost functional. Designing and tuning a high-performance reward/cost functional for Level-4 autonomous driving vehicles with exposure to different driving…

As data volumes continue to grow, optimizing database performance has become increasingly critical, making the implementation of effective tuning methods essential. Among various approaches, database parameter tuning has proven to be a…

Optimization-based controller tuning is challenging because it requires formulating optimization problems explicitly as functions of controller parameters. Safe learning algorithms overcome the challenge by creating surrogate models from…

Control tuning and adaptation present a significant challenge to the usage of robots in diverse environments. It is often nontrivial to find a single set of control parameters by hand that work well across the broad array of environments…

Accurate mathematical models of aerodynamic properties play an important role in the aerospace field. In some cases, system parameters of an aircraft can be estimated reliably only via flight tests. In order to obtain meaningful…

The performance of modern reinforcement learning algorithms critically relies on tuning ever-increasing numbers of hyperparameters. Often, small changes in a hyperparameter can lead to drastic changes in performance, and different…

Parameter-Efficient Tuning (PETuning) methods have been deemed by many as the new paradigm for using pretrained language models (PLMs). By tuning just a fraction amount of parameters comparing to full model finetuning, PETuning methods…

Bipedal locomotion control is essential for humanoid robots to navigate complex, human-centric environments. While optimization-based control designs are popular for integrating sophisticated models of humanoid robots, they often require…

Transfer learning, which allows a source task to affect the inductive bias of the target task, is widely used in computer vision. The typical way of conducting transfer learning with deep neural networks is to fine-tune a model pre-trained…