5 papers
D3P: Dynamic Denoising Diffusion Policy via Reinforcement Learning
Shu-Ang Yu, Feng Gao, Yi Wu +2
Diffusion policies excel at learning complex action distributions for robotic visuomotor tasks, yet their iterative denoising process poses a major bottleneck for real-time deploym…
What Matters in Learning A Zero-Shot Sim-to-Real RL Policy for Quadrotor Control? A Comprehensive Study
Jiayu Chen, Chao Yu, Yuqing Xie +9
Executing precise and agile flight maneuvers is critical for quadrotors in various applications. Traditional quadrotor control approaches are limited by their reliance on flat traj…
Multi-Robot System for Cooperative Exploration in Unknown Environments: A Survey
Chuqi Wang, Chao Yu, Xin Xu +11
With the real need of field exploration in large-scale and extreme outdoor environments, cooperative exploration tasks have garnered increasing attention. This paper presents a com…
FlightBench: Benchmarking Learning-based Methods for Ego-vision-based Quadrotors Navigation
Shu-Ang Yu, Chao Yu, Feng Gao +2
Ego-vision-based navigation in cluttered environments is crucial for mobile systems, particularly agile quadrotors. While learning-based methods have shown promise recently, head-t…
Localization matters too: How localization error affects UAV flight
Suquan Zhang, Yuanfan Xu, Shu'ang Yu +3
The maximum safe flight speed of a Unmanned Aerial Vehicle (UAV) is an important indicator for measuring its efficiency in completing various tasks. This indicator is influenced by…