QuadSwarm: A Modular Multi-Quadrotor Simulator for Deep Reinforcement Learning with Direct Thrust Control

1 code implementation • 15 Jun 2023 • Zhehui Huang, Sumeet Batra, Tao Chen, Rahul Krupani, Tushar Kumar, Artem Molchanov, Aleksei Petrenko, James A. Preiss, Zhaojing Yang, Gaurav S. Sukhatme

In addition to speed, such simulators need to model the physics of the robots and their interaction with the environment to a level acceptable for transferring policies learned in simulation to reality.

Reinforcement Learning (RL)

Analyzing the Variance of Policy Gradient Estimators for the Linear-Quadratic Regulator

no code implementations • 2 Oct 2019 • James A. Preiss, Sébastien M. R. Arnold, Chen-Yu Wei, Marius Kloft

We study the variance of the REINFORCE policy gradient estimator in environments with continuous state and action spaces, linear dynamics, quadratic cost, and Gaussian noise.

Sim-to-(Multi)-Real: Transfer of Low-Level Robust Control Policies to Multiple Quadrotors

2 code implementations • 11 Mar 2019 • Artem Molchanov, Tao Chen, Wolfgang Hönig, James A. Preiss, Nora Ayanian, Gaurav S. Sukhatme

Quadrotor stabilizing controllers often require careful, model-specific tuning for safe operation.

Robotics