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cs.RO2026
GzDRL: Reproducible and Scalable Deep Reinforcement Learning with Gazebo
Amal Dev Haridevan, Junjie Kang, Jinjun Shan
We present GzDRL, a novel single-process reinforcement learning (RL) framework for Gazebo that overcomes longstanding bottlenecks in scalable, reproducible robotics experimentation…
cs.RO2026
SEP-NMPC: Safety Enhanced Passivity-Based Nonlinear Model Predictive Control for a UAV Slung Payload System
Seyedreza Rezaei, Junjie Kang, Amaldev Haridevan +1
Model Predictive Control (MPC) is widely adopted for agile multirotor vehicles, yet achieving both stability and obstacle-free flight is particularly challenging when a payload is…