特权评论家训练：端到端 RL 无传感器推进器故障适应
Original title: Privileged Critic Training Enables Sensor-Free Thruster Fault Adaptation in End-to-End RL
IndustryAI 61
Source: arXiv cs.ROPublish time unverified
arXiv:2608.22976v1 Announce Type: new Abstract: Fault-tolerant navigation for thruster-actuated robots requires online adaptation to failures that are neither binary nor fully observable: thrusters may degrade continuously, fail dead, or jam stuck-open. Classical fault detection pipelines require dedicated sensors unavailable at deployment; oracle controllers that observe the true failure state are equally impractical.