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

Modern computing systems are increasingly more complex, with their multicore CPUs and GPUs accelerators changing yearly, if not more often. It thus has become very challenging to write programs that efficiently use the associated complex…

Neural machine translation often adopts the fine-tuning approach to adapt to specific domains. However, nonrestricted fine-tuning can easily degrade on the general domain and over-fit to the target domain. To mitigate the issue, we propose…

Mobile devices run deep learning models for various purposes, such as image classification and speech recognition. Due to the resource constraints of mobile devices, researchers have focused on either making a lightweight deep neural…

Rapidly generating an optimal chasing motion of a drone to follow a dynamic target among obstacles is challenging due to numerical issues rising from multiple conflicting objectives and non-convex constraints. This study proposes to resolve…

Autonomous drone racing is a challenging research problem at the intersection of computer vision, planning, state estimation, and control. We introduce AirSim Drone Racing Lab, a simulation framework for enabling fast prototyping of…

Advanced compiler technology is crucial for enabling machine learning applications to run on novel hardware, but traditional compilers fail to deliver performance, popular auto-tuners have long search times and expert-optimized libraries…

Fine-tuning is a popular way of exploiting knowledge contained in a pre-trained convolutional network for a new visual recognition task. However, the orthogonal setting of transferring knowledge from a pretrained network to a visually…

The impressive performance of deep learning architectures is associated with a massive increase in model complexity. Millions of parameters need to be tuned, with training and inference time scaling accordingly, together with energy…

Animals learn to adapt speed of their movements to their capabilities and the environment they observe. Mobile robots should also demonstrate this ability to trade-off aggressiveness and safety for efficiently accomplishing tasks. The aim…

The demand for accurate and fast trajectory tracking for multirotor Unmanned Aerial Vehicles (UAVs) have grown recently due to advances in UAV avionics technology and application domains. In many applications, the multirotor UAV is required…

Prompt tuning attempts to update few task-specific parameters in pre-trained models. It has achieved comparable performance to fine-tuning of the full parameter set on both language understanding and generation tasks. In this work, we study…

This paper proposes an adaptive near-hover position controller for quadcopters, which can be deployed to quadcopters of very different mass, size and motor constants, and also shows rapid adaptation to unknown disturbances during runtime.…

Controller tuning is a labor-intensive process that requires human intervention and expert knowledge. Bayesian optimization has been applied successfully in different fields to automate this process. However, when tuning on hardware, such…

Drifting is a complicated task for autonomous vehicle control. Most traditional methods in this area are based on motion equations derived by the understanding of vehicle dynamics, which is difficult to be modeled precisely. We propose a…

Fine-tuning pre-trained foundation models has gained significant popularity in various research fields. Existing methods for fine-tuning can be roughly divided into two categories, namely Parameter-Efficient Fine-Tuning and High-Performance…

Large-scale diffusion models like Stable Diffusion are powerful and find various real-world applications while customizing such models by fine-tuning is both memory and time inefficient. Motivated by the recent progress in natural language…

Autonomous drone racing has attracted increasing interest as a research topic for exploring the limits of agile flight. However, existing studies primarily focus on obstacle-free racetracks, while the perception and dynamic challenges…

A common sensing problem is to use a set of stationary tracking locations to monitor a collection of moving devices: Given $n$ objects that need to be tracked, each following its own trajectory, and $m$ stationary traffic control stations,…

Reaching fast and autonomous flight requires computationally efficient and robust algorithms. To this end, we train Guidance & Control Networks to approximate optimal control policies ranging from energy-optimal to time-optimal flight. We…

Autonomous racing is a research field gaining large popularity, as it pushes autonomous driving algorithms to their limits and serves as a catalyst for general autonomous driving. For scaled autonomous racing platforms, the computational…