A self-supervised framework jointly trains an IMU-denoising network and a differentiable MPC through a consistency loss, improving simulated quadrotor attitude control and parameter identification.
A robust and easy to implement method for imu calibration without external equipments
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Imperative MPC: An End-to-End Self-Supervised Learning with Differentiable MPC for UAV Attitude Control
A self-supervised framework jointly trains an IMU-denoising network and a differentiable MPC through a consistency loss, improving simulated quadrotor attitude control and parameter identification.