Multiscale Sensor Fusion and Continuous Control with Neural CDEs
Sumeet Singh,Francis McCann Ramirez,Jacob Varley,Andy Zeng,Vikas Sindhwani,Sumeet Singh,Francis McCann Ramirez,Jacob Varley,Andy Zeng,Vikas Sindhwani
Though robot learning is often formulated in terms of discrete-time Markov decision processes (MDPs), physical robots require near-continuous multiscale feedback control. Machines operate on multiple asynchronous sensing modalities, each with different frequencies, e.g., video frames at 30Hz, proprioceptive state at 100Hz, force-torque data at 500Hz, etc. While the classic approach is to batch obs...
