A transformer-based rapid motor adaptation module lets an RL fault-tolerant controller adapt online to unseen quadrotor configurations without retraining, improving simulated success rate from 86% to 95%.
Learn-to-recover: Retrofitting uavs with reinforcement learning-assisted flight control under cyber- physical attacks,
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Reinforcement Learning-based Fault-Tolerant Control for Quadrotor with Online Transformer Adaptation
A transformer-based rapid motor adaptation module lets an RL fault-tolerant controller adapt online to unseen quadrotor configurations without retraining, improving simulated success rate from 86% to 95%.