Tube-NeRF: Efficient Imitation Learning of Visuomotor Policies From MPC via Tube-Guided Data Augmentation and NeRFs

Andrea Tagliabue; Jonathan P. How

RA-L 20247 citations

Tube-NeRF: Efficient Imitation Learning of Visuomotor Policies From MPC via Tube-Guided Data Augmentation and NeRFs

Abstract

Imitation learning (IL) can train computationally-efficient 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 <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">process and sensing uncertainties, and we design a data augmentation (DA) strategy that enables <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">efficient learning of <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">vision-based policies. The proposed DA method, named Tube-NeRF, leverages Neural Radiance Fields (NeRFs) to generate novel synthetic images, and uses properties of the robust MPC (the <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">tube ) to select relevant views and to efficiently compute the corresponding actions. We tailor our approach to the task of localization and trajectory tracking on a multirotor, by learning a <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">visuomotor policy that generates control actions using images from the onboard camera as only source of horizontal position. Numerical evaluations show 80-fold increase in demonstration efficiency and a <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$50\%$</tex-math></inline-formula> reduction in training time over current IL methods. Additionally, our policies successfully transfer to a real multirotor, achieving low tracking errors despite large disturbances, with an onboard inference time of only 1.5 ms. Video: <uri xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">https://youtu.be/8IzrcMxE7gE</uri>

BibTeX

@inproceedings{ral2024_tubenerfefficien,
  title = {Tube-NeRF: Efficient Imitation Learning of Visuomotor Policies From MPC via Tube-Guided Data Augmentation and NeRFs},
  author = {Andrea Tagliabue and Jonathan P. How},
  booktitle = {RA-L 2024},
  year = {2024}
}