相关论文: End-to-end Reinforcement Learning for Time-Optimal…

In recent years, autonomous parking has made significant advances, yet parking tasks still face challenges in extreme scenarios such as mechanical and dead-end parking slots, often resulting in failures. This is mainly due to traditional…

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…

Autonomous Underwater Vehicle (AUV) docking in dynamic and uncertain environments is a critical challenge for underwater robotics. Reinforcement learning is a promising method for developing robust controllers, but the disparity between…

While deep reinforcement learning (RL) methods have achieved unprecedented successes in a range of challenging problems, their applicability has been mainly limited to simulation or game domains due to the high sample complexity of the…

End-to-end autonomous driving is typically built upon imitation learning (IL), yet its performance is constrained by the quality of human demonstrations. To overcome this limitation, recent methods incorporate reinforcement learning (RL)…

Extrinsic calibration is essential for multi-sensor fusion, existing methods rely on structured targets or fully-excited data, limiting real-world applicability. Online calibration further suffers from weak excitation, leading to unreliable…

In recent years, considerable progress has been made towards a vehicle's ability to operate autonomously. An end-to-end approach attempts to achieve autonomous driving using a single, comprehensive software component. Recent breakthroughs…

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…

Obstacle avoidance is a fundamental vision-based task essential for enabling quadrotors to perform advanced applications. When planning the trajectory, existing approaches both on optimization and learning typically regard quadrotor as a…

The rapid advancement of electric vertical takeoff and landing (eVTOL) aircraft offers a promising opportunity to alleviate urban traffic congestion but is still limited by excessive power demands, especially during the takeoff phase. Thus,…

A central question in robotics is how to design a control system for an agile mobile robot. This paper studies this question systematically, focusing on a challenging setting: autonomous drone racing. We show that a neural network…

Quadruped robots require robust and general locomotion skills to exploit their mobility potential in complex and challenging environments. In this work, we present the first implementation of a robust end-to-end learning-based controller on…

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…

The objective of the project is to explore synergies between classical control algorithms such as PID and contemporary reinforcement learning algorithms to come up with a pragmatic control mechanism to control the CrazyFlie 2.X quadrotor.…

Autonomous racing presents unique challenges due to its non-linear dynamics, the high speed involved, and the critical need for real-time decision-making under dynamic and unpredictable conditions. Most traditional Reinforcement Learning…

In many practical control applications, the performance level of a closed-loop system degrades over time due to the change of plant characteristics. Thus, there is a strong need for redesigning a controller without going through the system…

Teaching robots dexterous manipulation skills often requires collecting hundreds of demonstrations using wearables or teleoperation, a process that is challenging to scale. Videos of human-object interactions are easier to collect and…

This paper presents an empirical study of reset-free reinforcement learning (RL) for real-world agile driving, in which a physical 1/10-scale vehicle learns continuously on a slippery indoor track without manual resets. High-speed driving…

Quadrotors are highly nonlinear dynamical systems that require carefully tuned controllers to be pushed to their physical limits. Recently, learning-based control policies have been proposed for quadrotors, as they would potentially allow…

This paper introduces a learning-based low-level controller for quadcopters, which adaptively controls quadcopters with significant variations in mass, size, and actuator capabilities. Our approach leverages a combination of imitation…