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%.
Fault-tolerant predictive control with deep-reinforcement-learning-based torque dis- tribution for four in-wheel motor drive electric vehicles,
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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%.