相关论文: SkyDreamer: Interpretable End-to-End Vision-Based …

The collection of large-scale and diverse robot demonstrations remains a major bottleneck for imitation learning, as real-world data acquisition is costly and simulators offer limited diversity and fidelity with pronounced sim-to-real gaps.…

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…

We demonstrate the capabilities of an attention-based end-to-end approach for high-speed vision-based quadrotor obstacle avoidance in dense, cluttered environments, with comparison to various state-of-the-art learning architectures.…

In this paper, we investigate the problem of enabling a drone to fly through a tilted narrow gap, without a traditional planning and control pipeline. To this end, we propose an end-to-end policy network, which imitates from the traditional…

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…

We present our latest research in learning deep sensorimotor policies for agile, vision-based quadrotor flight. We show methodologies for the successful transfer of such policies from simulation to the real world. In addition, we discuss…

Learning to control robots without requiring engineered models has been a long-term goal, promising diverse and novel applications. Yet, reinforcement learning has only achieved limited impact on real-time robot control due to its high…

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.…

Reinforcement learning for training end-to-end autonomous driving models in closed-loop simulations is gaining growing attention. However, most simulation environments differ significantly from real-world conditions, creating a substantial…

In this work, we introduce OmniDrones, an efficient and flexible platform tailored for reinforcement learning in drone control, built on Nvidia's Omniverse Isaac Sim. It employs a bottom-up design approach that allows users to easily design…

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…

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…

Reinforcement Learning (RL) has emerged as a transformative approach in the domains of automation and robotics, offering powerful solutions to complex problems that conventional methods struggle to address. In scenarios where the problem…

The challenges presented in an autonomous racing situation are distinct from those faced in regular autonomous driving and require faster end-to-end algorithms and consideration of a longer horizon in determining optimal current actions…

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…

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…

Due to dynamic variations such as changing payload, aerodynamic disturbances, and varying platforms, a robust solution for quadrotor trajectory tracking remains challenging. To address these challenges, we present a deep reinforcement…

Drones as advanced cyber-physical systems are undergoing a transformative shift with the advent of vision-based learning, a field that is rapidly gaining prominence due to its profound impact on drone autonomy and functionality. Different…

Overactuated tilt-rotor platforms offer many advantages over traditional fixed-arm drones, allowing the decoupling of the applied force from the attitude of the robot. This expands their application areas to aerial interaction and…

In the present paper, we propose a decoder-free extension of Dreamer, a leading model-based reinforcement learning (MBRL) method from pixels. Dreamer is a sample- and cost-efficient solution to robot learning, as it is used to train latent…