FFFAKE001's starred repositories
NeuroMHE
Neural Moving Horizon Estimation (NeuroMHE) is an auto-tuning and adaptive optimal estimator. It fuses a nueral network with an MHE to render fast online adaptation to state-dependent noise. The neural network can be efficiently trained from the robot's trajectory tracking errors without the need for the ground truth data.
LearningAgileFlight_SE3
Learning Agile Flights on SE(3): a novel deep SE(3) motion planning and control method for quadrotors. It learns an MPC's adaptive SE(3) decision variables parameterized by a portable DNN, encouraging the quadrotor to fly through the gate with maximum safety margins under diverse settings.