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%.
Learning a single near-hover position controller for vastly different quadcopters,
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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%.