Tube-NeRF: Efficient Imitation Learning of Visuomotor Policies From MPC via Tube-Guided Data Augmentation and NeRFs
Andrea Tagliabue,
Jonathan P. How
Abstract:Imitation learning (IL) can train computationallyefficient sensorimotor policies from a resource-intensive model predictive controller (MPC), but it often requires many samples, leading to long training times or limited robustness. To address these issues, we combine IL with a variant of robust MPC that accounts for process and sensing uncertainties, and we design a data augmentation (DA) strategy that enables efficient learning of vision-based policies. The proposed DA method, named Tube-NeRF, leverages Neura… Show more
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