相关论文: Generalization through Simulation: Integrating Sim…

Expert human drivers perform actions relying on traffic laws and their previous experience. While traffic laws are easily embedded into an artificial brain, modeling human complex behaviors which come from past experience is a more…

The success of reinforcement learning for real world robotics has been, in many cases limited to instrumented laboratory scenarios, often requiring arduous human effort and oversight to enable continuous learning. In this work, we discuss…

This paper describes a methodology for learning flight control systems from human demonstrations and interventions while considering the estimated uncertainty in the learned models. The proposed approach uses human demonstrations to train…

The data-driven approach to robot control has been gathering pace rapidly, yet generalization to unseen task domains remains a critical challenge. We argue that the key to generalization is representations that are (i) rich enough to…

Autonomous drone racing has attracted increasing interest as a research topic for exploring the limits of agile flight. However, existing studies primarily focus on obstacle-free racetracks, while the perception and dynamic challenges…

Reinforcement learning has emerged as a promising methodology for training robot controllers. However, most results have been limited to simulation due to the need for a large number of samples and the lack of automated-yet-safe data…

Robust and realistic rendering for large-scale road scenes is essential in autonomous driving simulation. Recently, 3D Gaussian Splatting (3D-GS) has made groundbreaking progress in neural rendering, but the general fidelity of large-scale…

Training vision-based manipulation policies that are robust across diverse visual environments remains an important and unresolved challenge in robot learning. Current approaches often sidestep the problem by relying on invariant…

While deep learning has had significant successes in computer vision thanks to the abundance of visual data, collecting sufficiently large real-world datasets for robot learning can be costly. To increase the practicality of these…

Scarcity of training data is one of the prominent problems for deep networks which require large amounts data. Data augmentation is a widely used method to increase the number of training samples and their variations. In this paper, we…

Online path planning for multiple unmanned aerial vehicle (multi-UAV) systems is considered a challenging task. It needs to ensure collision-free path planning in real-time, especially when the multi-UAV systems can become very crowded on…

This paper presents a reinforcement learning-based quadrotor navigation method that leverages efficient differentiable simulation, novel loss functions, and privileged information to navigate around large obstacles. Prior learning-based…

In this paper, we present a deep reinforcement learning method for quadcopter bypassing the obstacle on the flying path. In the past study, the algorithm only controls the forward direction about quadcopter. In this letter, we use two…

Learning-based approaches often outperform hand-coded algorithmic solutions for many problems in robotics. However, learning long-horizon tasks on real robot hardware can be intractable, and transferring a learned policy from simulation to…

The self-driving based on deep reinforcement learning, as the most important application of artificial intelligence, has become a popular topic. Most of the current self-driving methods focus on how to directly learn end-to-end self-driving…

Novice pilots find it difficult to operate and land unmanned aerial vehicles (UAVs), due to the complex UAV dynamics, challenges in depth perception, lack of expertise with the control interface and additional disturbances from the ground…

Cotraining with demonstration data generated both in simulation and on real hardware has emerged as a promising recipe for scaling imitation learning in robotics. This work seeks to elucidate basic principles of this sim-and-real cotraining…

Over the recent years, there has been an explosion of studies on autonomous vehicles. Many collected large amount of data from human drivers. However, compared to the tedious data collection approach, building a virtual simulation of…

Learning control policies in simulation enables rapid, safe, and cost-effective development of advanced robotic capabilities. However, transferring these policies to the real world remains difficult due to the sim-to-real gap, where…

Robotic simulators are crucial for academic research and education as well as the development of safety-critical applications. Reinforcement learning environments -- simple simulations coupled with a problem specification in the form of a…