26 citations · 50 across the 7 of their papers we have counts for
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cs.RO2022★ 3 cited
DiffTune: Hyperparameter-Free Auto-Tuning using Auto-Differentiation
Sheng Cheng, Lin Song, Minkyung Kim +2
Controller tuning is a vital step to ensure the controller delivers its designed performance. DiffTune has been proposed as an automatic tuning method that unrolls the dynamical sy…
cs.RO2022
Simultaneous Spatial and Temporal Assignment for Fast UAV Trajectory Optimization using Bilevel Optimization
Qianzhong Chen, Sheng Cheng, Naira Hovakimyan
In this paper, we propose a framework for fast trajectory planning for unmanned aerial vehicles (UAVs). Our framework is reformulated from an existing bilevel optimization, in whic…
cs.RO2022★ 7 cited
DiffTune: Auto-Tuning through Auto-Differentiation
Sheng Cheng, Minkyung Kim, Lin Song +4
The performance of robots in high-level tasks depends on the quality of their lower-level controller, which requires fine-tuning. However, the intrinsically nonlinear dynamics and…