Oliver Niggemann

2 papers indexed

arxivcs.LGeess.SY2026-07-15

Conditional Invertible Neural Networks for Data-Driven UAV Control: A 2-D Proof of Concept

Christian Wittke, Stephan Myschik, Oliver Niggemann

We investigate conditional invertible neural networks (cINNs) as probabilistic inverse-dynamics models for multirotor control. For a planar X8 coaxial multicopter, we learn $p(u \mid s_t, c_t)$ from an incremental nonlinear dynamic inversion (INDI) teacher using rational-quadrati…

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arxivcs.AI2026-07-14

Knowledge- and Gradient-Guided Reinforcement Learning for Parametrized Action Markov Decision Processes

Jonas Ehrhardt, René Heesch, Oliver Niggemann

In this paper, we study Reinforcement Learning in Parametrized Action Markov Decision Processes (PAMDP), where each decision consists of a symbolic action and numerical parameters. In such settings Reinforcement Learning algorithms typically determine parameters with one-shot est…

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