2 papers
cs.RO2025
TACO: Trajectory-Aware Controller Optimization for Quadrotors
Hersh Sanghvi, Spencer Folk, Vijay Kumar +1
Controller performance in quadrotor trajectory tracking depends heavily on parameter tuning, yet standard approaches often rely on fixed, manually tuned parameters that sacrifice t…
cs.RO2024
OCCAM: Online Continuous Controller Adaptation with Meta-Learned Models
Hersh Sanghvi, Spencer Folk, Camillo Jose Taylor
Control tuning and adaptation present a significant challenge to the usage of robots in diverse environments. It is often nontrivial to find a single set of control parameters by h…