arXiv cs.RO·· 6 days agoAI score57
ZipDrift: Generating Multimodal Short-Horizon MPC Costs with One-Step Drifting Models
Summary
ZipDrift proposes using a one-step drifting generator to learn cost corrections for short-horizon MPC, trained only on cost evaluations of candidate corrections without backpropagating through the optimizer.
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Source: arXiv cs.RO · arxiv.org
Planning and decision makingRobot models and learningData and simulationResearch papers#Research#Planning and decision-making#Robot models and learning#Data and simulation
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