相关论文: Whole-Body Control Through Narrow Gaps From Pixels…

Recent advances in deep reinforcement learning (RL) based techniques combined with training in simulation have offered a new approach to developing robust controllers for legged robots. However, the application of such approaches to real…

Although quadrotors, and aerial robots in general, are inherently active agents, their perceptual capabilities in literature so far have been mostly passive in nature. Researchers and practitioners today use traditional computer vision…

Articulated object manipulation poses a unique challenge compared to rigid object manipulation as the object itself represents a dynamic environment. In this work, we present a novel RL-based pipeline equipped with variable impedance…

Data-efficient reinforcement learning (RL) in continuous state-action spaces using very high-dimensional observations remains a key challenge in developing fully autonomous systems. We consider a particularly important instance of this…

A long-cherished vision of drones is to autonomously traverse through clutter to reach every corner of the world using onboard sensing and computation. In this paper, we combine onboard 3D lidar sensing and sim-to-real reinforcement…

Challenges in traversing dynamic clutters lie mainly in the efficient perception of the environmental dynamics and the generation of evasive behaviors considering obstacle movement. Previous solutions have made progress in explicitly…

Learning-based controllers have achieved impressive performance in agile quadrotor flight but typically rely on massive training in simulation, necessitating accurate system identification for effective Sim2Real transfer. However, even with…

Learning controllers that reproduce legged locomotion in nature has been a long-time goal in robotics and computer graphics. While yielding promising results, recent approaches are not yet flexible enough to be applicable to legged systems…

We focus on the problem of reliably training Reinforcement Learning (RL) models (agents) for stable low-level control in embedded systems and test our methods on a high-performance, custom-built quadrotor platform. A common but often…

Recent progress in GPU-accelerated, photorealistic simulation has opened a scalable data-generation path for robot learning, where massive physics and visual randomization allow policies to generalize beyond curated environments. Building…

Tilt-rotor aerial robots enable omnidirectional maneuvering through thrust vectoring, but introduce significant control challenges due to the strong coupling between joint and rotor dynamics. While model-based controllers can achieve high…

In this paper, we deal with the reality gap from a novel perspective, targeting transferring Deep Reinforcement Learning (DRL) policies learned in simulated environments to the real-world domain for visual control tasks. Instead of adopting…

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…

Developing optimal controllers for aggressive high-speed quadcopter flight poses significant challenges in robotics. Recent trends in the field involve utilizing neural network controllers trained through supervised or reinforcement…

Most prior methods for learning navigation policies require access to simulation environments, as they need online policy interaction and rely on ground-truth maps for rewards. However, building simulators is expensive (requires manual…

One fundamental difficulty in robotic learning is the sim-real gap problem. In this work, we propose to use segmentation as the interface between perception and control, as a domain-invariant state representation. We identify two sources of…

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…

Executing precise and agile flight maneuvers is critical for quadrotors in various applications. Traditional quadrotor control approaches are limited by their reliance on flat trajectories or time-consuming optimization, which restricts…

We tackle the problem of minimum-time flight for a quadrotor through a sequence of waypoints in the presence of obstacles while exploiting the full quadrotor dynamics. Early works relied on simplified dynamics or polynomial trajectory…

Overactuated omnidirectional flying vehicles are capable of generating force and torque in any direction, which is important for applications such as contact-based industrial inspection. This comes at the price of an increase in model…