T2S-MPC uses structured time embedding and two-timescale updates to adaptively learn residual dynamics for MPC under general time-varying disturbances, outperforming baselines on quadrotor tasks.
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T2S-MPC: Time-Embedded Online Adaptive Model Predictive Control for Time-Varying Dynamics
T2S-MPC uses structured time embedding and two-timescale updates to adaptively learn residual dynamics for MPC under general time-varying disturbances, outperforming baselines on quadrotor tasks.