QuaDUE-CCM: Interpretable Distributional Reinforcement Learning using Uncertain Contraction Metrics for Precise Quadrotor Trajectory Tracking

15 July 2022

Papers citing "QuaDUE-CCM: Interpretable Distributional Reinforcement Learning using Uncertain Contraction Metrics for Precise Quadrotor Trajectory Tracking"

26 / 26 papers shown

Title
Is That Rain? Understanding Effects on Visual Odometry Performance for Autonomous UAVs and Efficient DNN-based Rain Classification at the Edge Andrea Albanese Yanran Wang Davide Brunelli David E. Boyle 118 1 0 17 Jul 2024
Safe Output Feedback Motion Planning from Images via Learned Perception Modules and Contraction Theory Glen Chou N. Ozay Dmitry Berenson 76 22 0 14 Jun 2022
Interpretable Stochastic Model Predictive Control using Distributional Reinforced Estimation for Quadrotor Tracking Systems Yanran Wang James O’Keeffe Qiuchen Qian David E. Boyle 39 3 0 14 May 2022
Real-time Neural-MPC: Deep Learning Model Predictive Control for Quadrotors and Agile Robotic Platforms Tim Salzmann Elia Kaufmann Jon Arrizabalaga Marco Pavone Davide Scaramuzza Markus Ryll 93 97 0 15 Mar 2022
KinoJGM: A framework for efficient and accurate quadrotor trajectory generation and tracking in dynamic environments Yanran Wang James O’Keeffe Qiuchen Qian David E. Boyle 70 11 0 24 Feb 2022
Safe Control with Learned Certificates: A Survey of Neural Lyapunov, Barrier, and Contraction methods Charles Dawson Sicun Gao Chuchu Fan 72 241 0 23 Feb 2022
SABLAS: Learning Safe Control for Black-box Dynamical Systems Zengyi Qin Dawei Sun Chuchu Fan 70 43 0 06 Jan 2022
Learning Safe, Generalizable Perception-based Hybrid Control with Certificates Charles Dawson Bethany Lowenkamp D. Goff Chuchu Fan 83 54 0 04 Jan 2022
Learning High-Speed Flight in the Wild Antonio Loquercio Elia Kaufmann René Ranftl Matthias Muller V. Koltun Davide Scaramuzza 103 300 0 11 Oct 2021
Conservative Offline Distributional Reinforcement Learning Yecheng Jason Ma Dinesh Jayaraman Osbert Bastani OffRL 100 81 0 12 Jul 2021
Stabilizing Neural Control Using Self-Learned Almost Lyapunov Critics Ya-Chien Chang Sicun Gao 84 59 0 11 Jul 2021
Model Error Propagation via Learned Contraction Metrics for Safe Feedback Motion Planning of Unknown Systems Glen Chou N. Ozay Dmitry Berenson 93 25 0 18 Apr 2021
External Forces Resilient Safe Motion Planning for Quadrotor Yuwei Wu Ziming Ding Chao Xu Fei Gao 59 28 0 20 Mar 2021
Data-Driven MPC for Quadrotors G. Torrente Elia Kaufmann Philip Föhn Davide Scaramuzza 131 210 0 10 Feb 2021
Learning Safe Multi-Agent Control with Decentralized Neural Barrier Certificates Zengyi Qin Kai Zhang Yuxiao Chen Jingkai Chen Chuchu Fan 62 133 0 14 Jan 2021
Learning Certified Control using Contraction Metric Dawei Sun Susmit Jha Chuchu Fan 61 77 0 25 Nov 2020
Model-Reference Reinforcement Learning for Collision-Free Tracking Control of Autonomous Surface Vehicles Qingrui Zhang Wei Pan V. Reppa 38 68 0 17 Aug 2020
Neural Contraction Metrics for Robust Estimation and Control: A Convex Optimization Approach Hiroyasu Tsukamoto Soon-Jo Chung 55 59 0 08 Jun 2020
Robust Controller Design for Stochastic Nonlinear Systems via Convex Optimization Hiroyasu Tsukamoto Soon-Jo Chung 77 43 0 08 Jun 2020
Reinforcement Learning for Safety-Critical Control under Model Uncertainty, using Control Lyapunov Functions and Control Barrier Functions Jason J. Choi F. Castañeda Claire Tomlin Koushil Sreenath 43 185 0 16 Apr 2020
QUOTA: The Quantile Option Architecture for Reinforcement Learning Fengxiang Yang Zhun Zhong Zhiming Luo Sheng Lian Shaozi Li OffRL 72 29 0 05 Nov 2018
PAMPC: Perception-Aware Model Predictive Control for Quadrotors Davide Falanga Philipp Foehn Peng Lu Davide Scaramuzza 119 216 0 13 Apr 2018
Differential Flatness of Quadrotor Dynamics Subject to Rotor Drag for Accurate Tracking of High-Speed Trajectories Matthias Faessler Antonio Franchi Davide Scaramuzza 44 309 0 06 Dec 2017
Distributional Reinforcement Learning with Quantile Regression Will Dabney Mark Rowland Marc G. Bellemare Rémi Munos 94 762 0 27 Oct 2017
A Distributional Perspective on Reinforcement Learning Marc G. Bellemare Will Dabney Rémi Munos OffRL 101 1,506 0 21 Jul 2017
Continuous control with deep reinforcement learning Timothy Lillicrap Jonathan J. Hunt Alexander Pritzel N. Heess Tom Erez Yuval Tassa David Silver Daan Wierstra 327 13,289 0 09 Sep 2015