4 papers
Residual Policy Learning for Perceptive Quadruped Control Using Differentiable Simulation
Jing Yuan Luo, Yunlong Song, Victor Klemm +3
First-order Policy Gradient (FoPG) algorithms such as Backpropagation through Time and Analytical Policy Gradients leverage local simulation physics to accelerate policy search, si…
Learning Deep Sensorimotor Policies for Vision-based Autonomous Drone Racing
Jiawei Fu, Yunlong Song, Yan Wu +2
Autonomous drones can operate in remote and unstructured environments, enabling various real-world applications. However, the lack of effective vision-based algorithms has been a s…
Autonomous Overtaking in Gran Turismo Sport Using Curriculum Reinforcement Learning
Yunlong Song, HaoChih Lin, Elia Kaufmann +2
Professional race-car drivers can execute extreme overtaking maneuvers. However, existing algorithms for autonomous overtaking either rely on simplified assumptions about the vehic…
Autonomous Drone Racing with Deep Reinforcement Learning
Yunlong Song, Mats Steinweg, Elia Kaufmann +1
In many robotic tasks, such as autonomous drone racing, the goal is to travel through a set of waypoints as fast as possible. A key challenge for this task is planning the time-opt…