223 citations · 273 across the 42 of their papers we have counts for
6 papers · 1 filter
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…
Reaching the Limit in Autonomous Racing: Optimal Control versus Reinforcement Learning
Yunlong Song, Angel Romero, Matthias Mueller +2
A central question in robotics is how to design a control system for an agile mobile robot. This paper studies this question systematically, focusing on a challenging setting: auto…
Learning to Walk and Fly with Adversarial Motion Priors
Giuseppe L'Erario, Drew Hanover, Angel Romero +5
Robot multimodal locomotion encompasses the ability to transition between walking and flying, representing a significant challenge in robotics. This work presents an approach that…
Contrastive Learning for Enhancing Robust Scene Transfer in Vision-based Agile Flight
Jiaxu Xing, Leonard Bauersfeld, Yunlong Song +2
Scene transfer for vision-based mobile robotics applications is a highly relevant and challenging problem. The utility of a robot greatly depends on its ability to perform a task i…
Contrastive Initial State Buffer for Reinforcement Learning
Nico Messikommer, Yunlong Song, Davide Scaramuzza
In Reinforcement Learning, the trade-off between exploration and exploitation poses a complex challenge for achieving efficient learning from limited samples. While recent works ha…
Actor-Critic Model Predictive Control: Differentiable Optimization meets Reinforcement Learning for Agile Flight
Angel Romero, Elie Aljalbout, Yunlong Song +1
A key open challenge in agile quadrotor flight is how to combine the flexibility and task-level generality of model-free reinforcement learning (RL) with the structure and online r…