相关论文: Curriculum Reinforcement Learning for Quadrotor Ra…

Autonomous driving faces challenges in navigating complex real-world traffic, requiring safe handling of both common and critical scenarios. Reinforcement learning (RL), a prominent method in end-to-end driving, enables agents to learn…

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…

Deep reinforcement learning (DRL) has emerged as a promising solution to mastering explosive and versatile quadrupedal jumping skills. However, current DRL-based frameworks usually rely on pre-existing reference trajectories obtained by…

End-to-end deep reinforcement learning (DRL) for quadrotor control promises many benefits -- easy deployment, task generalization and real-time execution capability. Prior end-to-end DRL-based methods have showcased the ability to deploy…

This study is aimed at addressing the problem of fault tolerance of quadruped robots to actuator failure, which is critical for robots operating in remote or extreme environments. In particular, an adaptive curriculum reinforcement learning…

Applications of reinforcement learning (RL) are popular in autonomous driving tasks. That being said, tuning the performance of an RL agent and guaranteeing the generalization performance across variety of different driving scenarios is…

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…

Agile flight in complex environments poses significant challenges to current motion planning methods, as they often fail to fully leverage the quadrotor dynamic potential, leading to performance failures and reduced efficiency during…

Quadcopters have been studied for decades thanks to their maneuverability and capability of operating in a variety of circumstances. However, quadcopters suffer from dynamical nonlinearity, actuator saturation, as well as sensor noise that…

This paper addresses the challenges of training end-to-end autonomous driving agents using Reinforcement Learning (RL). RL agents are typically trained in a fixed set of scenarios and nominal behavior of surrounding road users in…

Quadrotor unmanned aerial vehicles (UAVs) are increasingly deployed in complex missions that demand reliable autonomous navigation and robust obstacle avoidance. However, traditional modular pipelines often incur cumulative latency, whereas…

Dynamically changing environments, unreliable state estimation, and operation under severe resource constraints are fundamental challenges that limit the deployment of small autonomous drones. We address these challenges in the context of…

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.…

This paper focuses on the continuous control of the unmanned aerial vehicle (UAV) based on a deep reinforcement learning method for a large-scale 3D complex environment. The purpose is to make the UAV reach any target point from a certain…

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…

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.…

Reinforcement Learning is a mature technology, often suggested as a potential route towards Artificial General Intelligence, with the ambitious goal of replicating the wide range of abilities found in natural and artificial intelligence,…

Reinforcement learning has shown great promise in the training of robot behavior due to the sequential decision making characteristics. However, the required enormous amount of interactive and informative training data provides the major…

Autonomous drone racing in complex environments requires agile, high-speed flight while maintaining reliable obstacle avoidance. Differentiable-physics-based policy learning has recently demonstrated high sample efficiency and remarkable…

In this paper, we present our proposed approach for active tracking to increase the autonomy of Unmanned Aerial Vehicles (UAVs) using event cameras, low-energy imaging sensors that offer significant advantages in speed and dynamic range.…