A single-layer self-attention meta-controller for Euler-Lagrange systems with unobservable friction memory outperforms deeper Transformer baselines by 12-19 percentage points in tracking error for short and matched memory regimes.
Co-Reyes, Daiyi Peng, Summer Yue, Eugene Brevdo, and Aleksandra Faust
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Temporal Attention for Adaptive Control of Euler-Lagrange Systems with Unobservable Memory
A single-layer self-attention meta-controller for Euler-Lagrange systems with unobservable friction memory outperforms deeper Transformer baselines by 12-19 percentage points in tracking error for short and matched memory regimes.