RCL-NUS
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Auto-Multilift
Auto-Multilift PublicAuto-Multilift is a novel learning framework for cooperative load transportation with quadrotors. It can automatically tune various MPC hyperparameters, which are modeled by DNNs and difficult to t…
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- Auto-Multilift Public
Auto-Multilift is a novel learning framework for cooperative load transportation with quadrotors. It can automatically tune various MPC hyperparameters, which are modeled by DNNs and difficult to tune manually, via reinforcement learning in a distributed and closed-loop manner.
- NeuroMHE Public
Neural Moving Horizon Estimation (NeuroMHE) is an auto-tuning and adaptive optimal estimator. It fuses a nueral network with an MHE to render fast online adaptation to state-dependent noise. The neural network can be efficiently trained from the robot's trajectory tracking errors without the need for the ground truth data.
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