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arXiv Machine Learning By Anutam Srinivasan, Siddhant Panse, Glen Chou

Planning to Learn: Real-Time Robust Adaptive Control on the GPU with Guaranteed Future Learning

Read the original on arXiv Machine Learning →

The paper introduces A‑SLS, a learning‑aware robust adaptive model predictive control framework that forecasts future parameter uncertainty and preserves correlations among disturbances, parameter errors, and estimate updates to build tight reachable sets. It presents a GPU‑accelerated solver enabling real‑time performance on high‑dimensional systems, demonstrated on a quadruped with 61 states and a Crazyflie drone that learns dynamics online to stabilize during flight.

Machine-generated by The Flow from the publisher's headline and feed description — not written or checked by a human. The full article lives at arXiv Machine Learning.

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