Learning Deep Control Policies for Autonomous Aerial Vehicles with MPC-Guided Policy Search

22 September 2015

Pieter Abbeel

Papers citing "Learning Deep Control Policies for Autonomous Aerial Vehicles with MPC-Guided Policy Search"

50 / 58 papers shown

Title
Autonomous Vehicle Controllers From End-to-End Differentiable Simulation Asen Nachkov Danda Pani Paudel Luc Van Gool 36 0 0 12 Sep 2024
Lyapunov-stable Neural Control for State and Output Feedback: A Novel Formulation Lujie Yang Hongkai Dai Zhouxing Shi Cho-Jui Hsieh Russ Tedrake Huan Zhang 57 15 0 11 Apr 2024
OmniDrones: An Efficient and Flexible Platform for Reinforcement Learning in Drone Control Botian Xu Feng Gao Chao Yu Chao Yu Yi Wu Yu Wang 41 28 0 22 Sep 2023
Efficient Interaction-Aware Interval Analysis of Neural Network Feedback Loops Saber Jafarpour Akash Harapanahalli Samuel Coogan 36 13 0 27 Jul 2023
Feeding control and water quality monitoring in aquaculture systems: Opportunities and challenges F. Aljehani I. N’Doye T. Laleg‐Kirati 11 2 0 14 Jun 2023
High-speed Autonomous Racing using Trajectory-aided Deep Reinforcement Learning B. D. Evans H. Engelbrecht H. W. Jordaan 29 19 0 12 Jun 2023
Data-Driven Distributionally Robust Optimal Control with State-Dependent Noise Rui Liu Guan-Yu Shi Pratap Tokekar 27 7 0 04 Mar 2023
Interval Reachability of Nonlinear Dynamical Systems with Neural Network Controllers Saber Jafarpour Akash Harapanahalli Samuel Coogan 39 10 0 19 Jan 2023
Model-agnostic stochastic model predictive control Tapas Tripura S. Chakraborty 26 5 0 23 Nov 2022
Policy Learning for Nonlinear Model Predictive Control with Application to USVs Rizhong Wang Huiping Li Bin Liang Yang Shi Deming Xu 22 20 0 18 Nov 2022
Output Feedback Tube MPC-Guided Data Augmentation for Robust, Efficient Sensorimotor Policy Learning Andrea Tagliabue Jonathan P. How 26 5 0 18 Oct 2022
Holo-Dex: Teaching Dexterity with Immersive Mixed Reality Sridhar Pandian Arunachalam Irmak Güzey Soumith Chintala Lerrel Pinto 48 69 0 12 Oct 2022
Learning Perception-Aware Agile Flight in Cluttered Environments Yunlong Song Kexin Shi Robert Pěnička Davide Scaramuzza 45 34 0 04 Oct 2022
Handling Sparse Rewards in Reinforcement Learning Using Model Predictive Control Murad Dawood Nils Dengler Jorge de Heuvel Maren Bennewitz 29 9 0 04 Oct 2022
Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion Siddhant Gangapurwala Luigi Campanaro Ioannis Havoutis 40 12 0 29 Sep 2022
Constrained Imitation Learning for a Flapping Wing Unmanned Aerial Vehicle T. K C Taeyoung Lee 18 2 0 08 Jun 2022
Neural Lyapunov Differentiable Predictive Control Sayak Mukherjee Ján Drgoňa Aaron Tuor M. Halappanavar D. Vrabie 47 13 0 22 May 2022
Aggressive Quadrotor Flight Using Curiosity-Driven Reinforcement Learning Q. Sun Jinbao Fang Weixing Zheng Yang Tang 19 27 0 26 Mar 2022
Reinforcement Learning from Demonstrations by Novel Interactive Expert and Application to Automatic Berthing Control Systems for Unmanned Surface Vessel Haoran Zhang Chenkun Yin Yanxin Zhang S. Jin Zhenxuan Li OffRL 21 3 0 23 Feb 2022
A Benchmark Comparison of Learned Control Policies for Agile Quadrotor Flight Elia Kaufmann L. Bauersfeld Davide Scaramuzza 46 70 0 22 Feb 2022
Learning to Execute: Efficient Learning of Universal Plan-Conditioned Policies in Robotics Ingmar Schubert Danny Driess Ozgur S. Oguz Marc Toussaint OffRL 24 1 0 15 Nov 2021
Demonstration-Efficient Guided Policy Search via Imitation of Robust Tube MPC Andrea Tagliabue Dong-Ki Kim M. Everett Jonathan P. How 62 22 0 21 Sep 2021
Model Predictive Control for Trajectory Tracking on Differentiable Manifolds G. Lu Wei Xu Fu Zhang 44 6 0 29 Jun 2021
Pervasive AI for IoT applications: A Survey on Resource-efficient Distributed Artificial Intelligence Emna Baccour N. Mhaisen A. Abdellatif A. Erbad Amr M. Mohamed Mounir Hamdi Mohsen Guizani 35 87 0 04 May 2021
DMotion: Robotic Visuomotor Control with Unsupervised Forward Model Learned from Videos Haoqi Yuan Ruihai Wu Andrew Zhao Hanwang Zhang Zihan Ding Hao Dong 19 3 0 07 Mar 2021
Accelerated Sim-to-Real Deep Reinforcement Learning: Learning Collision Avoidance from Human Player Hanlin Niu Ze Ji F. Arvin Barry Lennox Hujun Yin J. Carrasco 11 30 0 21 Feb 2021
Guided Policy Search Based Control of a High Dimensional Advanced Manufacturing Process A. Surana Kishore K. Reddy M. Siopis AI4CE 25 2 0 12 Sep 2020
Scalable FastMDP for Pre-departure Airspace Reservation and Strategic De-conflict J. R. Bertram Peng Wei Joseph Zambreno 27 12 0 08 Aug 2020
Deep Drone Acrobatics Elia Kaufmann Antonio Loquercio René Ranftl Matthias Muller V. Koltun Davide Scaramuzza 33 148 0 10 Jun 2020
Deep Reinforcement Learning Attitude Control of Fixed-Wing UAVs Using Proximal Policy Optimization Eivind Bøhn E. M. Coates Signe Moe T. Johansen 20 129 0 13 Nov 2019
Fully Bayesian Recurrent Neural Networks for Safe Reinforcement Learning Matthew Benatan Edward O. Pyzer-Knapp BDL 24 6 0 08 Nov 2019
Sample Efficient Learning of Path Following and Obstacle Avoidance Behavior for Quadrotors Stefan Stevšić Tobias Nägeli Javier Alonso-Mora Otmar Hilliges 18 19 0 28 Jun 2019
Safe and Near-Optimal Policy Learning for Model Predictive Control using Primal-Dual Neural Networks Xiaojing Zhang Monimoy Bujarbaruah Francesco Borrelli 19 62 0 19 Jun 2019
A Trainable Multiplication Layer for Auto-correlation and Co-occurrence Extraction Hideaki Hayashi S. Uchida 14 3 0 30 May 2019
Deep Convolutional Neural Network-Based Autonomous Drone Navigation K. Amer M. Samy M. Shaker Mohamed ElHelw 22 56 0 05 May 2019
Deep Visual MPC-Policy Learning for Navigation Noriaki Hirose F. Xia Roberto Martin-Martin Amir Sadeghian Silvio Savarese 27 96 0 07 Mar 2019
Industrial Robot Trajectory Tracking Using Multi-Layer Neural Networks Trained by Iterative Learning Control Shuyang Chen J. Wen 17 4 0 28 Feb 2019
A Meta-MDP Approach to Exploration for Lifelong Reinforcement Learning Francisco M. Garcia Philip S. Thomas 24 38 0 03 Feb 2019
Learning with Training Wheels: Speeding up Training with a Simple Controller for Deep Reinforcement Learning Linhai Xie Sen Wang Stefano Rosa Andrew Markham A. Trigoni OffRL 30 80 0 12 Dec 2018
On the stability analysis of deep neural network representations of an optimal state-feedback Dario Izzo Dharmesh Tailor T. Vasileiou 34 25 0 06 Dec 2018
Vision-Based High Speed Driving with a Deep Dynamic Observer P. Drews Grady Williams Brian Goldfain Evangelos A. Theodorou James M. Rehg 20 49 0 05 Dec 2018
Sample-Efficient Policy Learning based on Completely Behavior Cloning Qiming Zou Ling Wang K. Lu Yu Li OffRL 25 0 0 09 Nov 2018
A survey on policy search algorithms for learning robot controllers in a handful of trials Konstantinos Chatzilygeroudis Vassilis Vassiliades F. Stulp Sylvain Calinon Jean-Baptiste Mouret 17 155 0 06 Jul 2018
Learning an Approximate Model Predictive Controller with Guarantees Michael Hertneck Johannes Köhler Sebastian Trimpe Frank Allgöwer 37 221 0 11 Jun 2018
Modeling Preemptive Behaviors for Uncommon Hazardous Situations From Demonstrations Priyam Parashar Akansel Cosgun A. Nakhaei K. Fujimura 31 3 0 01 Jun 2018
Hindsight is Only 50/50: Unsuitability of MDP based Approximate POMDP Solvers for Multi-resolution Information Gathering S. Arora Sanjiban Choudhury Sebastian Scherer 15 5 0 07 Apr 2018
Temporal Difference Models: Model-Free Deep RL for Model-Based Control Vitchyr H. Pong S. Gu Murtaza Dalal Sergey Levine OffRL 66 238 0 25 Feb 2018
Data-driven Planning via Imitation Learning Sanjiban Choudhury M. Bhardwaj S. Arora Ashish Kapoor G. Ranade Sebastian Scherer Debadeepta Dey 46 80 0 17 Nov 2017
Declarative vs Rule-based Control for Flocking Dynamics Usama Mehmood Nicola Paoletti Dung Phan Radu Grosu Shan Lin Scott D. Stoller A. Tiwari Junxing Yang S. Smolka AI4CE 18 11 0 27 Oct 2017
To Go or Not To Go? A Near Unsupervised Learning Approach For Robot Navigation Noriaki Hirose Amir Sadeghian P. Goebel Silvio Savarese GAN 24 20 0 16 Sep 2017