相关论文: Learning Long-Horizon Predictions for Quadrotor Dy…

Accurately predicting the consequences of agents' actions is a key prerequisite for planning in robotic control. Model-based reinforcement learning (MBRL) is one paradigm which relies on the iterative learning and prediction of state-action…

Aerial robots can enhance their safe and agile navigation in complex and cluttered environments by efficiently exploiting the information collected during a given task. In this paper, we address the learning model predictive control problem…

Accurately predicting the dynamics of robotic systems is crucial for model-based control and reinforcement learning. The most common way to estimate dynamics is by fitting a one-step ahead prediction model and using it to recursively…

Flying quadrotors in tight formations is a challenging problem. It is known that in the near-field airflow of a quadrotor, the aerodynamic effects induced by the propellers are complex and difficult to characterize. Although machine…

Complex, long-horizon planning and its combinatorial nature pose steep challenges for learning-based agents. Difficulties in such settings are exacerbated in low data regimes where over-fitting stifles generalization and compounding errors…

An inherent fragility of quadrotor systems stems from model inaccuracies and external disturbances. These factors hinder performance and compromise the stability of the system, making precise control challenging. Existing model-based…

Traditional learning approaches proposed for controlling quadrotors or helicopters have focused on improving performance for specific trajectories by iteratively improving upon a nominal controller, for example learning from demonstrations,…

Horizon length and model accuracy are defining factors when designing a Model Predictive Controller. While long horizons and detailed models have a positive effect on control performance, computational complexity increases. As predictions…

Accurately modeling quadrotor's system dynamics is critical for guaranteeing agile, safe, and stable navigation. The model needs to capture the system behavior in multiple flight regimes and operating conditions, including those producing…

Mastering complex sequential tasks continues to pose a significant challenge in robotics. While there has been progress in learning long-horizon manipulation tasks, most existing approaches lack rigorous mathematical guarantees for ensuring…

Compounding error, where small prediction mistakes accumulate over time, presents a major challenge in learning-based control. For example, this issue often limits the performance of model-based reinforcement learning and imitation…

Data-driven approaches for modelling contact-rich tasks address many of the difficulties that analytical models bear. For real-world scenarios, the hardware capabilities constrain the available measurements and consequently, every step of…

A model-based approach to forecasting chaotic dynamical systems utilizes knowledge of the physical processes governing the dynamics to build an approximate mathematical model of the system. In contrast, machine learning techniques have…

When training autoregressive models to forecast dynamical systems, a critical question arises: how far into the future should the model be trained to predict? Too short a horizon may miss long-term trends, while too long a horizon can…

Motion prediction of surrounding vehicles is one of the most important tasks handled by a self-driving vehicle, and represents a critical step in the autonomous system necessary to ensure safety for all the involved traffic actors. Recently…

Time-optimal trajectories drive quadrotors to their dynamic limits, but computing such trajectories involves solving non-convex problems via iterative nonlinear optimization, making them prohibitively costly for real-time applications. In…

Modeling an unknown dynamical system is crucial in order to predict the future behavior of the system. A standard approach is training recurrent models on measurement data. While these models typically provide exact short-term predictions,…

We present a novel predictive model architecture based on the principles of predictive coding that enables open loop prediction of future observations over extended horizons. There are two key innovations. First, whereas current methods…

Robotic manipulation can greatly benefit from the data efficiency, robustness, and predictability of model-based methods if robots can quickly generate models of novel objects they encounter. This is especially difficult when effects like…

Accurate prediction over long time horizons is crucial for modeling complex physical processes such as wave propagation. Although deep neural networks show promise for real-time forecasting, they often struggle with accumulating phase and…