CasADiのための学習：数値最適化におけるデータ駆動モデル
Learning for CasADi: Data-driven Models in Numerical Optimization
PyTorchで学習したモデルをCasADiの数値最適化に統合するフレームワークL4CasADiを提案し、乱流中の魚の軌道最適化やNeRF環境での最適制御で有効性を示した。
著者: Tim Salzmann, Jon Arrizabalaga, Joel Andersson, Marco Pavone, Markus Ryll
分類: eess.SY, cs.AI, cs.LG, cs.RO, cs.SC, cs.SY
原文アブストラクト
While real-world problems are often challenging to analyze analytically, deep learning excels in modeling complex processes from data. Existing optimization frameworks like CasADi facilitate seamless usage of solvers but face challenges when integrating learned process models into numerical optimizations. To address this gap, we present the Learning for CasADi (L4CasADi) framework, enabling the seamless integration of PyTorch-learned models with CasADi for efficient and potentially hardware-accelerated numerical optimization. The applicability of L4CasADi is demonstrated with two tutorial examples: First, we optimize a fish's trajectory in a turbulent river for energy efficiency where the turbulent flow is represented by a PyTorch model. Second, we demonstrate how an implicit Neural Radiance Field environment representation can be easily leveraged for optimal control with L4CasADi. L4CasADi, along with examples and documentation, is available under MIT license at https://github.com/Tim-Salzmann/l4casadi
