Maya Horii

Shao-Yi Yu, Jen-Wei Wang, Maya Horii et al.

Robotic systems deployed in uncertain and dynamically changing environments often face variations in contact conditions, aerodynamic effects, and external disturbances that challenge reliable control. To remain effective under model-based control, these systems require dynamics models that can adapt to such changes, especially when direct access to complete environmental information is limited. To enable adaptability and facilitate integration with model predictive control, we propose a context-aware dynamics model based on neural ordinary differential equations, which infers environmental factors from state-action histories using a two-phase training procedure. We validate the approach across diverse robotic platforms, including a quadrotor in simulation, as well as a Sphero BOLT robot and a Fanuc manipulator in real-world experiments. The results demonstrate that our method effectively adapts to temporally and spatially varying environmental changes across different tasks. Videos are available at https://youtu.be/PY0sNyF2rqE , and the source code is available at https://github.com/syyu410-yu/context-aware-neural-ode-control.git .

Shao-Yi Yu, Jen-Wei Wang, Maya Horii et al.

Mobile robots, such as ground vehicles and quadrotors, are becoming increasingly important in various fields, from logistics to agriculture, where they automate processes in environments that are difficult to access for humans. However, to perform effectively in uncertain environments using model-based controllers, these systems require dynamics models capable of responding to environmental variations, especially when direct access to environmental information is limited. To enable such adaptivity and facilitate integration with model predictive control, we propose an adaptive dynamics model which bypasses the need for direct environmental knowledge by inferring operational environments from state-action history. The dynamics model is based on neural ordinary equations, and a two-phase training procedure is used to learn latent environment representations. We demonstrate the effectiveness of our approach through goal-reaching and path-tracking tasks on three robotic platforms of increasing complexity: a 2D differential wheeled robot with changing wheel contact conditions, a 3D quadrotor in variational wind fields, and the Sphero BOLT robot under two contact conditions for real-world deployment. Empirical results corroborate that our method can handle temporally and spatially varying environmental changes in both simulation and real-world systems.