Locally Weighted Regression Pseudo-Rehearsal for Online Learning of Vehicle Dynamics

Understand

We consider the problem of online adaptation of a neural network designed to represent vehicle dynamics.

• The neural network model is intended to be used by an MPC control law to autonomously control the vehicle.
• This problem is challenging because both the input and target distributions are non-stationary, and naive approaches to online adaptation result in catastrophic forgetting, which can in turn lead to controller failures.
• We present a novel online learning method, which combines the pseudo-rehearsal method with locally weighted projection regression.