Imperative learning: A self-supervised neural-symbolic learning framework for robot autonomy
Data-driven methods such as reinforcement and imitation learning have achieved
remarkable success in robot autonomy. However, their data-centric nature still hinders them …
remarkable success in robot autonomy. However, their data-centric nature still hinders them …
Deep-panther: Learning-based perception-aware trajectory planner in dynamic environments
J Tordesillas, JP How - IEEE Robotics and Automation Letters, 2023 - ieeexplore.ieee.org
This letter presents Deep-PANTHER, a learning-based perception-aware trajectory planner
for unmanned aerial vehicles (UAVs) in dynamic environments. Given the current state of the …
for unmanned aerial vehicles (UAVs) in dynamic environments. Given the current state of the …
Imitating and finetuning model predictive control for robust and symmetric quadrupedal locomotion
Control of legged robots is a challenging problem that has been investigated by different
approaches, such as model-based control and learning algorithms. This work proposes a …
approaches, such as model-based control and learning algorithms. This work proposes a …
Efficient deep learning of robust policies from mpc using imitation and tube-guided data augmentation
A Tagliabue, JP How - IEEE Transactions on Robotics, 2024 - ieeexplore.ieee.org
Imitation learning (IL) can generate computationally efficient policies from demonstrations
provided by model predictive control (MPC). However, IL methods often require extensive …
provided by model predictive control (MPC). However, IL methods often require extensive …
2021 年无人机热点回眸
段海滨， 何杭轩， 赵彦杰， 王寅， 牛轶峰， 袁莞迈… - 科技导报, 2022 - kjdb.org
随着人工智能技术的发展以及机载任务平台性能的提升, 2021 年无人机技术与应用呈现新的
发展态势. 从无人机政策法规, 自主控制, 反无人机, 应用领域等多方面回眸了2021 …
发展态势. 从无人机政策法规, 自主控制, 反无人机, 应用领域等多方面回眸了2021 …
A Learning-based Quadcopter Controller with Extreme Adaptation
D Zhang, A Loquercio, J Tang, TH Wang… - arXiv preprint arXiv …, 2024 - arxiv.org
This paper introduces a learning-based low-level controller for quadcopters, which
adaptively controls quadcopters with significant variations in mass, size, and actuator …
adaptively controls quadcopters with significant variations in mass, size, and actuator …
Parallelized control-aware motion planning with learned controller proxies
Kinodynamic motion planning enables autonomous robots to find efficient paths while
minimizing energy expenditure and avoiding hazards in the environment. However, during …
minimizing energy expenditure and avoiding hazards in the environment. However, during …
Output feedback tube MPC-guided data augmentation for robust, efficient sensorimotor policy learning
A Tagliabue, JP How - 2022 IEEE/RSJ International …, 2022 - ieeexplore.ieee.org
Imitation learning (IL) can generate computationally efficient sensorimotor policies from
demonstrations provided by computationally expensive model-based sensing and control …
demonstrations provided by computationally expensive model-based sensing and control …
Robust, high-rate trajectory tracking on insect-scale soft-actuated aerial robots with deep-learned tube mpc
Accurate and agile trajectory tracking in sub-gram Micro Aerial Vehicles (MAVs) is
challenging, as the small scale of the robot induces large model uncertainties, demanding …
challenging, as the small scale of the robot induces large model uncertainties, demanding …
Standoff Tracking Using DNN-Based MPC With Implementation on FPGA
This work studies the standoff tracking problem to drive an unmanned aerial vehicle (UAV)
to slide on a desired circle over a moving target at a constant height. We propose a novel …
to slide on a desired circle over a moving target at a constant height. We propose a novel …