A neural network, the Task-Parameter Nexus, predicts near-optimal geometric controller gains for quadrotor tracking from short trajectory inputs, matching expert-tuned performance on training categories and outperforming untrained gains on unseen categories in simulation.
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Task-Parameter Nexus: Task-Specific Parameter Learning for Model-Based Control
A neural network, the Task-Parameter Nexus, predicts near-optimal geometric controller gains for quadrotor tracking from short trajectory inputs, matching expert-tuned performance on training categories and outperforming untrained gains on unseen categories in simulation.