相关论文: DiffTune: Auto-Tuning through Auto-Differentiation

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…

Unlike discriminative approaches in autonomous driving that predict a fixed set of candidate trajectories of the ego vehicle, generative methods, such as diffusion models, learn the underlying distribution of future motion, enabling more…

Flying robots such as the quadrotor could provide an efficient approach for medical treatment or sensor placing of wild animals. In these applications, continuously targeting the moving animal is a crucial requirement. Due to the…

Over the past decade, many approaches have been introduced for traffic speed prediction. However, providing fine-grained, accurate, time-efficient, and adaptive traffic speed prediction for a growing transportation network where the size of…

Trajectory optimization considers the problem of deciding how to control a dynamical system to move along a trajectory which minimizes some cost function. Differential Dynamic Programming (DDP) is an optimal control method which utilizes a…

Diffusion models have proven to be highly effective in generating high-quality images. However, adapting large pre-trained diffusion models to new domains remains an open challenge, which is critical for real-world applications. This paper…

Learning-based control techniques use data from past trajectories to control systems with uncertain dynamics. However, learning-based controllers are often computationally inefficient, limiting their practicality. To address this…

Deep learning has recently become one of the most compute/data-intensive methods and is widely used in many research areas and businesses. One of the critical challenges of deep learning is that it has many parameters that can be adjusted,…

Autonomous drone racing in complex environments requires agile, high-speed flight while maintaining reliable obstacle avoidance. Differentiable-physics-based policy learning has recently demonstrated high sample efficiency and remarkable…

Neglecting complex aerodynamic effects hinders high-speed yet high-precision multirotor autonomy. In this paper, we present a computationally efficient learning-based model predictive controller that simultaneously optimizes a trajectory…

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…

We present differentiable predictive control (DPC), a method for learning constrained neural control policies for linear systems with probabilistic performance guarantees. We employ automatic differentiation to obtain direct policy…

In contemporary control theory, self-adaptive methodologies are highly esteemed for their inherent flexibility and robustness in managing modeling uncertainties. Particularly, robust adaptive control stands out owing to its potent…

Precise near-ground trajectory control is difficult for multi-rotor drones, due to the complex aerodynamic effects caused by interactions between multi-rotor airflow and the environment. Conventional control methods often fail to properly…

We provide an algorithm for the simultaneous system identification and model predictive control of nonlinear systems. The algorithm has finite-time near-optimality guarantees and asymptotically converges to the optimal (non-causal)…

Multilevel optimization has gained renewed interest in machine learning due to its promise in applications such as hyperparameter tuning and continual learning. However, existing methods struggle with the inherent difficulty of efficiently…

Domain randomization (DR), which entails training a policy with randomized dynamics, has proven to be a simple yet effective algorithm for reducing the gap between simulation and the real world. However, DR often requires careful tuning of…

This paper addresses learning end-to-end models for time series data that include a temporal alignment step via dynamic time warping (DTW). Existing approaches to differentiable DTW either differentiate through a fixed warping path or apply…

The vehicle dynamics model serves as a vital component of autonomous driving systems, as it describes the temporal changes in vehicle state. In a long period, researchers have made significant endeavors to accurately model vehicle dynamics.…

Humanoid loco-manipulation requires coordinated high-level motion plans with stable, low-level whole-body execution under complex robot-environment dynamics and long-horizon tasks. While diffusion policies (DPs) show promise for learning…