223 citations · 515 across the 17 of their papers we have counts for
21 papers · 1 filter
Multi-Task Reinforcement Learning for Quadrotors
Jiaxu Xing, Ismail Geles, Yunlong Song +2
Reinforcement learning (RL) has shown great effectiveness in quadrotor control, enabling specialized policies to develop even human-champion-level performance in single-task scenar…
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 Quadrotor Control From Visual Features Using Differentiable Simulation
Johannes Heeg, Yunlong Song, Davide Scaramuzza
The sample inefficiency of reinforcement learning (RL) remains a significant challenge in robotics. RL requires large-scale simulation and can still cause long training times, slow…
Agile Robotics: Optimal Control, Reinforcement Learning, and Differentiable Simulation
Yunlong Song, Davide Scaramuzza
Control systems are at the core of every real-world robot. They are deployed in an ever-increasing number of applications, ranging from autonomous racing and search-and-rescue miss…
Learning Quadruped Locomotion Using Differentiable Simulation
Yunlong Song, Sangbae Kim, Davide Scaramuzza
This work explores the potential of using differentiable simulation for learning quadruped locomotion. Differentiable simulation promises fast convergence and stable training by co…
Flymation: Interactive Animation for Flying Robots
Yunlong Song, Davide Scaramuzza
Trajectory visualization and animation play critical roles in robotics research. However, existing data visualization and animation tools often lack flexibility, scalability, and v…