相关论文: End-to-end Neural Network Based Quadcopter control

We explore sim-to-real transfer of deep reinforcement learning controllers for a heavy vehicle with active suspensions designed for traversing rough terrain. While related research primarily focuses on lightweight robots with electric…

Fine-tuning simulation-trained RL agents with real-world data often degrades crucial behaviors due to limited or skewed data distributions. We argue that designer priorities exist not just in reward functions, but also in simulation design…

Quadrotors have demonstrated remarkable versatility, yet their full aerobatic potential remains largely untapped due to inherent underactuation and the complexity of aggressive maneuvers. Traditional approaches, separating trajectory…

We present research using the latest reinforcement learning algorithm for end-to-end driving without any mediated perception (object recognition, scene understanding). The newly proposed reward and learning strategies lead together to…

UAV control system is a huge and complex system, and to design and test a UAV control system is time-cost and money-cost. This paper considered the simulation of identification of a nonlinear system dynamics using artificial neural networks…

State-of-the-art human-in-the-loop robot grasping is hugely suffered by Electromyography (EMG) inference robustness issues. As a workaround, researchers have been looking into integrating EMG with other signals, often in an ad hoc manner.…

A deep neural network (DNN) based power control method is proposed, which aims at solving the non-convex optimization problem of maximizing the sum rate of a multi-user interference channel. Towards this end, we first present PCNet, which…

Learning-based adaptive control methods hold the premise of enabling autonomous agents to reduce the effect of process variations with minimal human intervention. However, its application to autonomous underwater vehicles (AUVs) has so far…

We propose a joint simulation and real-world learning framework for mapping navigation instructions and raw first-person observations to continuous control. Our model estimates the need for environment exploration, predicts the likelihood…

The real-world application of small drones is mostly hampered by energy limitations. Neuromorphic computing promises extremely energy-efficient AI for autonomous flight but is still challenging to train and deploy on real robots. To reap…

It is well-known that inverse dynamics models can improve tracking performance in robot control. These models need to precisely capture the robot dynamics, which consist of well-understood components, e.g., rigid body dynamics, and effects…

Although quadcopters boast impressive traversal capabilities enabled by their omnidirectional maneuverability, the need for continuous pilot control in complex environments impedes their application in GNSS and telemetry-denied scenarios.…

Accurate diagnosis of propeller faults is crucial for ensuring the safe and efficient operation of quadrotors. Training a fault classifier using simulated data and deploying it on a real quadrotor is a cost-effective and safe approach.…

In this paper, we present a method to control a quadrotor with a neural network trained using reinforcement learning techniques. With reinforcement learning, a common network can be trained to directly map state to actuator command making…

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…

Redundancy and parallelism make decentralized multi-robot systems appealing solutions for the exploration of extreme environments. However, effective cooperation often requires team-wide connectivity and a carefully designed communication…

Executing drift maneuvers during high-speed cornering presents significant challenges for autonomous vehicles, yet offers the potential to minimize turning time and enhance driving dynamics. While reinforcement learning (RL) has shown…

In this paper, we aim to forecast a future trajectory distribution of a moving agent in the real world, given the social scene images and historical trajectories. Yet, it is a challenging task because the ground-truth distribution is…

We investigate how a neural network can learn perception actions loops for navigation in unknown environments. Specifically, we consider how to learn to navigate in environments populated with cul-de-sacs that represent convex local minima…

Guidance & control networks (G&CNETs) provide a promising alternative to on-board guidance and control (G&C) architectures for spacecraft, offering a differentiable, end-to-end representation of the guidance and control architecture. When…