相关论文: Learning Agile, Vision-based Drone Flight: from Si…

Autonomous drone racing (ADR) systems have recently achieved champion-level performance, yet remain highly specific to drone racing. While end-to-end vision-based methods promise broader applicability, no system to date simultaneously…

Deploying robot learning methods to aerial robots in unstructured environments remains both challenging and promising. While recent advances in deep reinforcement learning (DRL) have enabled end-to-end flight control, the field still lacks…

Quadrotor stabilizing controllers often require careful, model-specific tuning for safe operation. We use reinforcement learning to train policies in simulation that transfer remarkably well to multiple different physical quadrotors. Our…

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…

Agile flight for the quadrotor cable-suspended payload system is a formidable challenge due to its underactuated, highly nonlinear, and hybrid dynamics. Traditional optimization-based methods often struggle with high computational costs and…

We demonstrate the possibility of learning drone swarm controllers that are zero-shot transferable to real quadrotors via large-scale multi-agent end-to-end reinforcement learning. We train policies parameterized by neural networks that are…

In the evolving landscape of high-speed agile quadrotor flight, achieving precise trajectory tracking at the platform's operational limits is paramount. Controllers must handle actuator constraints, exhibit robustness to disturbances, and…

Learning to control robots directly based on images is a primary challenge in robotics. However, many existing reinforcement learning approaches require iteratively obtaining millions of robot samples to learn a policy, which can take…

In this paper, we introduce a complete system for autonomous flight of quadrotors in dynamic environments with onboard sensing. Extended from existing work, we develop an occlusion-aware dynamic perception method based on depth images,…

In the last decade, data-driven approaches have become popular choices for quadrotor control, thanks to their ability to facilitate the adaptation to unknown or uncertain flight conditions. Among the different data-driven paradigms, Deep…

Recent work has demonstrated the ability of deep reinforcement learning (RL) algorithms to learn complex robotic behaviours in simulation, including in the domain of multi-fingered manipulation. However, such models can be challenging to…

Deep reinforcement learning has emerged as a promising and powerful technique for automatically acquiring control policies that can process raw sensory inputs, such as images, and perform complex behaviors. However, extending deep RL to…

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…

Recently, neural control policies have outperformed existing model-based planning-and-control methods for autonomously navigating quadrotors through cluttered environments in minimum time. However, they are not perception aware, a crucial…

Multicopter drones are becoming a key platform in several application domains, enabling precise on-the-spot sensing and/or actuation. We focus on the case where the drone must process the sensor data in order to decide, depending on the…

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…

Objective: This paper describes the development of hybrid artificial intelligence strategies for drone navigation. Methods: The navigation module combines a deep learning model with a rule-based engine depending on the agent state. The deep…

Data driven robotics relies upon accurate real-world representations to learn useful policies. Despite our best-efforts, zero-shot sim-to-real transfer is still an unsolved problem, and we often need to allow our agents to explore online to…

We present VisFly, a quadrotor simulator designed to efficiently train vision-based flight policies using reinforcement learning algorithms. VisFly offers a user-friendly framework and interfaces, leveraging Habitat-Sim's rendering engines…

Deep Reinforcement learning has shown to be a powerful tool for developing policies in environments where an optimal solution is unclear. In this paper, we attempt to apply Twin Delayed Deep Deterministic Policy Gradients to train a neural…