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BinghengNUS / 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.
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why pre-trainning via supervised learning is needed? #2

Open ZyyFLY opened 9 months ago

BinghengNUS commented 9 months ago

Hi, the use of pre-training is to have a warm-up for the subsequent RL, aiming to improve the training stability. Note that this step may not be necessary, as it depends on a case-by-case basis. It is also interesting to explore more efficient approaches that do not need such warm-up pre-training.

ZyyFLY commented 9 months ago

Oh, i got it. thankss~

zhangyuanyuan @.***

 

------------------ 原始邮件 ------------------ 发件人: "BinghengNUS/LearningAgileFlight_SE3" @.>; 发送时间: 2023年11月29日(星期三) 晚上6:10 @.>; @.**@.>; 主题: Re: [BinghengNUS/LearningAgileFlight_SE3] why pre-trainning via supervised learning is needed? (Issue #2)

Hi, the use of pre-training is to have a warm-up for the subsequent RL, aiming to improve the training stability. Note that this step may not be necessary, as it depends on a case-by-case basis. It is also interesting to explore more efficient approaches that do not need such warm-up pre-training.

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