相关论文: Equivariant Reinforcement Learning for Quadrotor U…

For safely applying reinforcement learning algorithms on high-dimensional nonlinear dynamical systems, a simplified system model is used to formulate a safe reinforcement learning framework. Based on the simplified system model, a…

Safety-critical cyber-physical systems (CPS), such as quadrotor UAVs, are particularly prone to cyber attacks, which can result in significant consequences if not detected promptly and accurately. During outdoor operations, the nonlinear…

Sample efficiency is critical when applying learning-based methods to robotic manipulation due to the high cost of collecting expert demonstrations and the challenges of on-robot policy learning through online Reinforcement Learning (RL).…

Autopilot systems are typically composed of an "inner loop" providing stability and control, while an "outer loop" is responsible for mission-level objectives, e.g. way-point navigation. Autopilot systems for UAVs are predominately…

The rapid development of Unmanned aerial vehicles (UAVs) technology has spawned a wide variety of applications, such as emergency communications, regional surveillance, and disaster relief. Due to their limited battery capacity and…

Reinforcement learning (RL) has emerged as a powerful paradigm for achieving online agile navigation with quadrotors. Despite this success, policies trained via standard RL typically fail to generalize across significant dynamic variations,…

Recent advancements in self-supervised audio-visual representation learning have demonstrated its potential to capture rich and comprehensive representations. However, despite the advantages of data augmentation verified in many learning…

Popular representation learning methods encourage feature invariance under transformations applied at the input. However, in 3D perception tasks like object localization and segmentation, outputs are naturally equivariant to some…

The paper presents an approach for learning antenna Radiation Patterns (RPs) of a pair of heterogeneous quadrotor Uncrewed Aerial Vehicles (UAVs) by calibration flight data. RPs are modeled either as a Spherical Harmonics series or as a…

Equivariant neural networks have been widely used in a variety of applications due to their ability to generalize well in tasks where the underlying data symmetries are known. Despite their successes, such networks can be difficult to…

Humans perceive and interact with the world with the awareness of equivariance, facilitating us in manipulating different objects in diverse poses. For robotic manipulation, such equivariance also exists in many scenarios. For example, no…

The application of intelligent decision-making in unmanned aerial vehicle (UAV) is increasing, and with the development of UAV 1v1 pursuit-evasion game, multi-UAV cooperative game has emerged as a new challenge. This paper proposes a deep…

In Reinforcement Learning (RL), Convolutional Neural Networks(CNNs) have been successfully applied as function approximators in Deep Q-Learning algorithms, which seek to learn action-value functions and policies in various environments.…

Quantum machine learning (QML) has received a lot of attention according to its light training parameter numbers and speeds; and the advances of QML lead to active research on quantum multi-agent reinforcement learning (QMARL). Existing…

A novel framework is proposed for quality of experience (QoE)-driven deployment and dynamic movement of multiple unmanned aerial vehicles (UAVs). The problem of joint non-convex three-dimensional (3D) deployment and dynamic movement of the…

This study presents a novel environment-aware reinforcement learning (RL) framework designed to augment the operational capabilities of autonomous underwater vehicles (AUVs) in underwater environments. Departing from traditional RL…

Reinforcement learning (RL) is an agent-based approach for teaching robots to navigate within the physical world. Gathering data for RL is known to be a laborious task, and real-world experiments can be risky. Simulators facilitate the…

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…

Unmanned Aerial Systems (UAS) are being increasingly deployed for commercial, civilian, and military applications. The current UAS state-of-the-art still depends on a remote human controller with robust wireless links to perform several of…

The deployment flexibility and maneuverability of Unmanned Aerial Vehicles (UAVs) increased their adoption in various applications, such as wildfire tracking, border monitoring, etc. In many critical applications, UAVs capture images and…