相关论文: Deep Drone Racing: From Simulation to Reality with…

Reliable autonomous navigation across the unstructured terrains of distant planetary surfaces is a critical enabler for future space exploration. However, the deployment of learning-based controllers is hindered by the inherent sim-to-real…

Dexterous manipulation is physics-intensive and highly sensitive to modeling errors and perception noise, making sim-to-real transfer prohibitively challenging. Domain randomization (DR) is commonly used to improve the robustness of learned…

With the autonomy of aerial robots advances in recent years, autonomous drone racing has drawn increasing attention. In a professional pilot competition, a skilled operator always controls the drone to agilely avoid obstacles in aggressive…

First-person view drone racing has become a popular televised sport. However, very little is known about the perceptual and motor skills of professional drone racing pilots. A better understanding of these skills may inform path planning…

Drone detection has benefited from improvements in deep neural networks, but like many other applications, suffers from the availability of accurate data for training. Synthetic data provides a potential for low-cost data generation and has…

Autonomous drone navigation in dynamic environments remains a critical challenge, especially when dealing with unpredictable scenarios including fast-moving objects with rapidly changing goal positions. While traditional planners and…

Domain randomisation is a very popular method for visual sim-to-real transfer in robotics, due to its simplicity and ability to achieve transfer without any real-world images at all. Nonetheless, a number of design choices must be made to…

Autonomous navigation in unstructured environments is essential for field and planetary robotics, where robots must efficiently reach goals while avoiding obstacles under uncertain conditions. Conventional algorithmic approaches often…

Low-cost mini-drones with advanced sensing and maneuverability enable a new class of intelligent sensing systems. To achieve the full potential of such drones, it is necessary to develop new enhanced formulations of both common and emerging…

Deep reinforcement learning has the potential to train robots to perform complex tasks in the real world without requiring accurate models of the robot or its environment. A practical approach is to train agents in simulation, and then…

Automating the navigation of unmanned aerial vehicles (UAVs) in diverse scenarios has gained much attention in recent years. However, teaching UAVs to fly in challenging environments remains an unsolved problem, mainly due to the lack of…

Simulations are attractive environments for training agents as they provide an abundant source of data and alleviate certain safety concerns during the training process. But the behaviours developed by agents in simulation are often…

Decentralized drone swarms deployed today either rely on sharing of positions among agents or detecting swarm members with the help of visual markers. This work proposes an entirely visual approach to coordinate markerless drone swarms…

Simulation-to-real transfer using domain randomization for robot control often relies on low-gear-ratio, backdrivable actuators, but these approaches break down when the sim-to-real gap widens. Inspired by the traditional PID controller, we…

We present a system for training deep neural networks for object detection using synthetic images. To handle the variability in real-world data, the system relies upon the technique of domain randomization, in which the parameters of the…

We propose to harness the potential of simulation for the semantic segmentation of real-world self-driving scenes in a domain generalization fashion. The segmentation network is trained without any data of target domains and tested on the…

Computer simulation provides an automatic and safe way for training robotic control policies to achieve complex tasks such as locomotion. However, a policy trained in simulation usually does not transfer directly to the real hardware due to…

An inherent fragility of quadrotor systems stems from model inaccuracies and external disturbances. These factors hinder performance and compromise the stability of the system, making precise control challenging. Existing model-based…

Dependable visual drone detection is crucial for the secure integration of drones into the airspace. However, drone detection accuracy is significantly affected by domain shifts due to environmental changes, varied points of view, and…

his paper presents a simple approach for drone navigation to follow a predetermined path using visual input only without reliance on a Global Positioning System (GPS). A Convolutional Neural Network (CNN) is used to output the steering…