Locally Weighted Regression Pseudo-Rehearsal for Online Learning of Vehicle Dynamics

05/13/2019
by   Grady Williams, et al.
0

We consider the problem of online adaptation of a neural network designed to represent vehicle dynamics. The neural network model is intended to be used by an MPC control law to autonomously control the vehicle. This problem is challenging because both the input and target distributions are non-stationary, and naive approaches to online adaptation result in catastrophic forgetting, which can in turn lead to controller failures. We present a novel online learning method, which combines the pseudo-rehearsal method with locally weighted projection regression. We demonstrate the effectiveness of the resulting Locally Weighted Projection Regression Pseudo-Rehearsal (LW-PR^2) method in simulation and on a large real world dataset collected with a 1/5 scale autonomous vehicle.

READ FULL TEXT

page 5

page 6

research
02/24/2019

An Online Learning Approach to Model Predictive Control

Model predictive control (MPC) is a powerful technique for solving dynam...
research
12/18/2018

Deep Online Learning via Meta-Learning: Continual Adaptation for Model-Based RL

Humans and animals can learn complex predictive models that allow them t...
research
07/28/2020

An Iterative LQR Controller for Off-Road and On-Road Vehicles using a Neural Network Dynamics Model

In this work we evaluate Iterative Linear Quadratic Regulator(ILQR) for ...
research
06/20/2020

Unsupervised Vehicle Re-identification with Progressive Adaptation

Vehicle re-identification (reID) aims at identifying vehicles across dif...
research
10/09/2019

Online Simultaneous Semi-Parametric Dynamics Model Learning

Accurate models of robots' dynamics are critical for control, stability,...
research
11/17/2020

Iterative Semi-parametric Dynamics Model Learning For Autonomous Racing

Accurately modeling robot dynamics is crucial to safe and efficient moti...
research
05/19/2023

Conditional Online Learning for Keyword Spotting

Modern approaches for keyword spotting rely on training deep neural netw...

Please sign up or login with your details

Forgot password? Click here to reset