Related papers: ASTER: Attitude-aware Suspended-payload Quadrotor …

Controlled gliding is one of the most energetically efficient modes of transportation for natural and human powered fliers. Here we demonstrate that gliding and landing strategies with different optimality criteria can be identified through…

Unmanned Aerial Vehicles (UAVs) are increasingly used in automated inspection, delivery, and navigation tasks that require reliable autonomy. This project develops a reinforcement learning (RL) approach to enable a single UAV to…

Large language models (LLMs) excel at mathematical reasoning and logical problem-solving. The current popular training paradigms primarily use supervised fine-tuning (SFT) and reinforcement learning (RL) to enhance the models' reasoning…

This paper addresses the problem of traversing through unknown, tilted, and narrow gaps for quadrotors using Deep Reinforcement Learning (DRL). Previous learning-based methods relied on accurate knowledge of the environment, including the…

Reconfigurable intelligent surfaces (RISs) mounted on unmanned aerial vehicles (UAVs) can reshape wireless propagation on-demand. However, their performance is sensitive to UAV jitter and cascaded channel uncertainty. This paper…

Restoration in power distribution systems (PDSs) is well studied, however, most existing research focuses on network partition and microgrid formation, where load transfer is limited to adjacent feeders. This focus is not practical, as when…

Quadrotor control policies can be trained with high performance using the exact gradients of the rewards to directly optimize policy parameters via backpropagation-through-time (BPTT). However, designing a fully differentiable reward…

In pursuit of autonomous vehicles, achieving human-like driving behavior is vital. This study introduces adaptive autopilot (AA), a unique framework utilizing constrained-deep reinforcement learning (C-DRL). AA aims to safely emulate human…

Unmanned Aerial Vehicles (UAVs) depend on onboard sensors for perception, navigation, and control. However, these sensors are susceptible to physical attacks, such as GPS spoofing, that can corrupt state estimates and lead to unsafe…

This paper presents a novel reinforcement learning framework for trajectory tracking of unmanned aerial vehicles in cluttered environments using a dual-agent architecture. Traditional optimization methods for trajectory tracking face…

Robotic collaborative carrying could greatly benefit human activities like warehouse and construction site management. However, coordinating the simultaneous motion of multiple robots represents a significant challenge. Existing works…

Neglecting complex aerodynamic effects hinders high-speed yet high-precision multirotor autonomy. In this paper, we present a computationally efficient learning-based model predictive controller that simultaneously optimizes a trajectory…

We demonstrate the capabilities of an attention-based end-to-end approach for high-speed vision-based quadrotor obstacle avoidance in dense, cluttered environments, with comparison to various state-of-the-art learning architectures.…

In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…

As LLMs are increasingly deployed in real-world applications, ensuring their ability to refuse malicious prompts, especially jailbreak attacks, is essential for safe and reliable use. Recently, activation steering has emerged as an…

Aerial robots interacting with objects must perform precise, contact-rich maneuvers under uncertainty. In this paper, we study the problem of aerial ball juggling using a quadrotor equipped with a racket, a task that demands accurate…

Semi or completely autonomous unmanned vehicles, remotely driven or controlled through artificial intelligence, are instrumental to foster space exploration. One of the most essential tasks of a rover is terrain traversing which requires…

Offline Reinforcement Learning (RL) enables policy learning without active interactions, making it especially appealing for self-driving tasks. Recent successes of Transformers inspire casting offline RL as sequence modeling, which,…

Scene transfer for vision-based mobile robotics applications is a highly relevant and challenging problem. The utility of a robot greatly depends on its ability to perform a task in the real world, outside of a well-controlled lab…

In this work, we present a novel algorithm to perform spill-free handling of open-top liquid-filled containers that operates in cluttered environments. By allowing liquid-filled containers to be tilted at higher angles and enabling motion…