5 papers · 1 filter
Guiding Vector Field Generation via Score-based Diffusion Model
Zirui Chen, Shiliang Guo, Shiyu Zhao
Guiding Vector Fields (GVFs) are a powerful tool for robotic path following. However, classical methods assume smooth, ordered curves and fail when paths are unordered, multi-branc…
Enhancing Vision-Based Policies with Omni-View and Cross-Modality Knowledge Distillation for Mobile Robots
Kai Li, Shiyu Zhao
Vision-based policies are widely applied in robotics for tasks such as manipulation and locomotion. On lightweight mobile robots, however, they face a trilemma of limited scene tra…
Learning Visuomotor Policy for Multi-Robot Laser Tag Game
Kai Li, Shiyu Zhao
In this paper, we study multi robot laser tag, a simplified yet practical shooting-game-style task. Classic modular approaches on these tasks face challenges such as limited observ…
Multi-Task Reinforcement Learning of Drone Aerobatics by Exploiting Geometric Symmetries
Zhanyu Guo, Zikang Yin, Guobin Zhu +2
Flight control for autonomous micro aerial vehicles (MAVs) is evolving from steady flight near equilibrium points toward more aggressive aerobatic maneuvers, such as flips, rolls,…
Sim-to-Real Transfer in Reinforcement Learning for Maneuver Control of a Variable-Pitch MAV
Zhikun Wang, Shiyu Zhao
Reinforcement learning (RL) algorithms can enable high-maneuverability in unmanned aerial vehicles (MAVs), but transferring them from simulation to real-world use is challenging. V…