5 papers
PILOT: Privileged Imitation Learning for End-to-End Motion Planning of Autonomous UAVs under Partial Observability
Qingrui Zhang, Feng Xue, Xiang Zhou +1
Autonomous navigation in cluttered environments is hampered by partial observability and dynamic constraints. This paper presents PILOT, a constraint-aware privileged imitation lea…
Cooperative Circumnavigation for Multiple Unmanned Surface Vehicles Without External Localization
Xueming Liu, Lin Li, Xiang Zhou +2
This paper proposes a cooperative target circumnavigation framework for multiple unmanned surface vehicles (USVs) operating without external localization. The objective is to maint…
HAC-LOCO: Learning Hierarchical Active Compliance Control for Quadruped Locomotion under Continuous External Disturbances
Xiang Zhou, Xinyu Zhang, Qingrui Zhang
Despite recent remarkable achievements in quadruped control, it remains challenging to ensure robust and compliant locomotion in the presence of unforeseen external disturbances. E…
Cooperative Circumnavigation for Multi-Quadrotor Systems via Onboard Sensing
Xueming Liu, Lin Li, Xiang Zhou +2
A cooperative circumnavigation framework is proposed for multi-quadrotor systems to enclose and track a moving target without reliance on external localization systems. The distinc…
PA-LOCO: Learning Perturbation-Adaptive Locomotion for Quadruped Robots
Zhiyuan Xiao, Xinyu Zhang, Xiang Zhou +1
Numerous locomotion controllers have been designed based on Reinforcement Learning (RL) to facilitate blind quadrupedal locomotion traversing challenging terrains. Nevertheless, lo…