xadap

Python implementation of Learning-based Controller for Extreme Adaptation.

Based on: Dingqi Zhang, Antonio Loquercio, Jerry Tang, Ting-Hao Wang, Jitendra Malik, Mark W. Mueller. "A Learning-based Quadcopter Controller with Extreme Adaptation" IEEE Transactions on Robotics, 41(2):3948-3964, 2025. https://doi.org/10.1109/TRO.2025.3577037

类：

名称	描述
ModelType	Enumeration for model normalization variants.
ButterworthFilter	Low-pass filter for smoothing sensor measurements.
NeuralNetworkModel	Neural network model for adaptation.
Xadap_NN_control	Controller combining high-level controller with neural adaptation.

ModelType

Bases: Enum

Enumeration for model normalization variants.

ButterworthFilter

ButterworthFilter(cutoff_freq=30, sample_rate=100)

Low-pass filter for smoothing sensor measurements.

Initialize filter coefficients and buffers.

参数：

名称	类型	描述	默认
cutoff_freq	float	Cutoff frequency in Hz.	30
sample_rate	float	Sampling rate in Hz.	100

方法：

名称	描述
run	Filter a new sample and return the smoothed value.

run

run(x_new: ndarray) -> np.ndarray

Filter a new sample and return the smoothed value.

参数：

名称	类型	描述	默认
x_new	ndarray	New sample vector.	必需

返回：

类型	描述
ndarray	np.ndarray: Filtered sample.

NeuralNetworkModel

NeuralNetworkModel()

Neural network model for adaptation.

Initialize ONNX model paths, load normalization parameters, and activate sessions.

方法：

名称	描述
activate	Initialize ONNX runtime sessions.
normalize_obs	Normalize observations based on model type.
predict	Run inference through both networks.

activate

activate()

Initialize ONNX runtime sessions.

normalize_obs

normalize_obs(obs: ndarray, model_type: ModelType) -> np.ndarray

Normalize observations based on model type.

参数：

名称	类型	描述	默认
obs	ndarray	Raw observation array.	必需
model_type	ModelType	Which normalization scheme to apply.	必需

返回：

类型	描述
ndarray	np.ndarray: Normalized observations.

predict

predict(cur_obs: ndarray, last_act: ndarray, obs_history: ndarray, act_history: ndarray) -> tuple[np.ndarray, np.ndarray]

Run inference through both networks.

参数：

名称	类型	描述	默认
cur_obs	ndarray	Current observation vector.	必需
last_act	ndarray	Previous action vector.	必需
obs_history	ndarray	Flattened observation history.	必需
act_history	ndarray	Flattened action history.	必需

返回：

类型	描述
tuple[ndarray, ndarray]	tuple[np.ndarray, np.ndarray]: Normalized and raw actions.

Xadap_NN_control

Xadap_NN_control(params: VehicleParams = VehicleParams(), control_mask: list[int] = [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], gains: dict | None = None)

Bases: FlightController

Controller combining high-level controller with neural adaptation.

Initialize the hybrid controller and buffers.

参数：

名称	类型	描述	默认
params	VehicleParams	Vehicle parameters.	VehicleParams()
control_mask	list[int]	Control mask for target/state channels.	[1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1]
gains	dict | None	Optional PID gains passed to FlightController.	None

方法：

名称	描述
update	Compute thrust and moments from target and state.
reset	Reset controller state and buffers.

属性：

名称	类型	描述
params	VehicleParams	Vehicle parameters for the controller.
control_mask	ndarray | Tensor	unified control mask for target/state channels, used in update(). e.g. using 9~11 for attitude yaw control.

params instance-attribute

params: VehicleParams = params

Vehicle parameters for the controller.

control_mask instance-attribute

control_mask: ndarray | Tensor = control_mask

unified control mask for target/state channels, used in update(). e.g. using 9~11 for attitude yaw control.

update

update(target: ndarray, state: ndarray) -> np.ndarray

Compute thrust and moments from target and state.

参数：

名称	类型	描述	默认
target	ndarray	Desired state vector.	必需
state	ndarray	Current state vector.	必需

返回：

类型	描述
ndarray	np.ndarray: Control output ordered as [thrust, Mx, My, Mz].

reset

reset(*args, **kwargs)

Reset controller state and buffers.