2 papers
cs.RO2026
E2DRL: End-to-End Differentiable Reinforcement Learning for 3D Obstacle Avoidance in Quadruped Robots
Cheng Fan, Bingyang Zhou, Gang Yang +7
Differentiable reinforcement learning shows strong promise for robot policy learning, but its application to legged locomotion has remained limited to blind walking or simulated 2D…
cs.RO2026
Constrained Differentiable Policy Learning for Safe Quadrotor Navigation
Yan Rui Tan, Praveen Krishnapur, Zeyu Feng +3
Differentiable simulation enables efficient policy optimization through analytic gradients, yet safety is commonly incorporated as a weighted penalty, requiring manual tuning of th…