首页|Study Data from Massachusetts Institute of Technology Update Knowledge of Roboti cs and Automation (Tube-nerf: Efficient Imitation Learning of Visuomotor Policie s From Mpc Via Tube-guided Data Augmentation and Nerfs)
Study Data from Massachusetts Institute of Technology Update Knowledge of Roboti cs and Automation (Tube-nerf: Efficient Imitation Learning of Visuomotor Policie s From Mpc Via Tube-guided Data Augmentation and Nerfs)
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By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News – A new study on Robotics - Robotics and Automation is now available. According to news reporting originating in Cambrid ge, Massachusetts, by NewsRx journalists, research stated, “Imitation learning ( IL) can train computationally-efficient sensorimotor policies from a resource-in tensive model predictive controller (MPC), but it often requires many samples, l eading to long training times or limited robustness. To address these issues, we combine IL with a variant of robust MPC that accounts for process and sensing u ncertainties, and we design a data augmentation (DA) strategy that enables effic ient learning of vision-based policies.” Financial support for this research came from MURI. The news reporters obtained a quote from the research from the Massachusetts Ins titute of Technology, “The proposed DA method, named Tube-NeRF, leverages Neural Radiance Fields (NeRFs) to generate novel synthetic images, and uses properties of the robust MPC (the tube) to select relevant views and to efficiently comput e the corresponding actions. We tailor our approach to the task of localization and trajectory tracking on a multirotor, by learning a visuomotor policy that ge nerates control actions using images from the onboard camera as only source of h orizontal position. Numerical evaluations show 80-fold increase in demonstration efficiency and a 50% reduction in training time over current IL m ethods.”
CambridgeMassachusettsUnited StatesNorth and Central AmericaRobotics and AutomationRoboticsMassachusetts Ins titute of Technology
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