相关论文: Learning to Fly via Deep Model-Based Reinforcement…

We consider robot learning in the context of shared autonomy, where control of the system can switch between a human teleoperator and autonomous control. In this setting we address reinforcement learning, and learning from demonstration,…

Reinforcement learning suffers from limitations in real practices primarily due to the number of required interactions with virtual environments. It results in a challenging problem because we are implausible to obtain a local optimal…

It is often necessary for drones to complete delivery, photography, and rescue in the shortest time to increase efficiency. Many autonomous drone races provide platforms to pursue algorithms to finish races as quickly as possible for the…

A reinforcement learning (RL) based methodology is proposed and implemented for online fine-tuning of PID controller gains, thus, improving quadrotor effective and accurate trajectory tracking. The RL agent is first trained offline on a…

Controlling contact forces during interactions is critical for locomotion and manipulation tasks. While sim-to-real reinforcement learning (RL) has succeeded in many contact-rich problems, current RL methods achieve forceful interactions…

Recent trends in robot arm control have seen a shift towards end-to-end solutions, using deep reinforcement learning to learn a controller directly from raw sensor data, rather than relying on a hand-crafted, modular pipeline. However, the…

Moving in dynamic pedestrian environments is one of the important requirements for autonomous mobile robots. We present a model-based reinforcement learning approach for robots to navigate through crowded environments. The navigation policy…

Flying quadrotors in tight formations is a challenging problem. It is known that in the near-field airflow of a quadrotor, the aerodynamic effects induced by the propellers are complex and difficult to characterize. Although machine…

A data-efficient learning-based control design method is proposed in this paper. It is based on learning a system dynamics model that is then leveraged in a two-level procedure. On the higher level, a simple but powerful optimization…

In shared autonomy, user input is combined with semi-autonomous control to achieve a common goal. The goal is often unknown ex-ante, so prior work enables agents to infer the goal from user input and assist with the task. Such methods tend…

In the last few years, researchers have applied machine learning strategies in the context of vehicular platoons to increase the safety and efficiency of cooperative transportation. Reinforcement Learning methods have been employed in the…

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…

We propose a method to capture the handling abilities of fast jet pilots in a software model via reinforcement learning (RL) from human preference feedback. We use pairwise preferences over simulated flight trajectories to learn an…

With the development of industry, drones are appearing in various field. In recent years, deep reinforcement learning has made impressive gains in games, and we are committed to applying deep reinforcement learning algorithms to the field…

Drones have gained popularity in a wide range of field ranging from aerial photography, aerial mapping, and investigation of electric power lines. Every drone that we know today is carrying out some kind of control algorithm at the low…

This paper addresses the problem of guiding a quadrotor through a predefined sequence of waypoints in cluttered environments, aiming to minimize the flight time while avoiding collisions. Previous approaches either suffer from prolonged…

This work developed a meta-learning approach that adapts the control policy on the fly to different changing conditions for robust locomotion. The proposed method constantly updates the interaction model, samples feasible sequences of…

Quadrotors are among the most agile flying robots. Despite recent advances in learning-based control and computer vision, autonomous drones still rely on explicit state estimation. On the other hand, human pilots only rely on a…

Executing safe and precise flight maneuvers in dynamic high-speed winds is important for the ongoing commoditization of uninhabited aerial vehicles (UAVs). However, because the relationship between various wind conditions and its effect on…

We introduce a Task-Level Iterative Learning Control method for dynamic manipulation of ropes. We demonstrate this method on a non-planar rope manipulation task called the flying knot. Using a single human demonstration and a simplified…