Output Feedback Tube MPC-Guided Data Augmentation for Robust, Efficient Sensorimotor Policy Learning
Andrea Tagliabue,Jonathan P. How,Andrea Tagliabue,Jonathan P. How
Imitation learning (IL) can generate computationally efficient sensorimotor policies from demonstrations provided by computationally expensive model-based sensing and control algorithms. However, commonly employed IL methods are often data-inefficient, requiring the collection of a large number of demonstrations and producing policies with limited robustness to uncertainties. In this work, we comb...
