no code implementations • 21 Mar 2024 • Yunlong Song, Sangbae Kim, Davide Scaramuzza
This work provides several important insights into using differentiable simulations for legged locomotion in the real world.
no code implementations • 17 Oct 2023 • Yunlong Song, Angel Romero, Matthias Mueller, Vladlen Koltun, Davide Scaramuzza
A central question in robotics is how to design a control system for an agile mobile robot.
no code implementations • 18 Sep 2023 • Jiaxu Xing, Leonard Bauersfeld, Yunlong Song, Chunwei Xing, Davide Scaramuzza
The utility of a robot greatly depends on its ability to perform a task in the real world, outside of a well-controlled lab environment.
1 code implementation • 18 Sep 2023 • Nico Messikommer, Yunlong Song, Davide Scaramuzza
In Reinforcement Learning, the trade-off between exploration and exploitation poses a complex challenge for achieving efficient learning from limited samples.
no code implementations • 26 Oct 2022 • Jiawei Fu, Yunlong Song, Yan Wu, Fisher Yu, Davide Scaramuzza
The resulting policy directly infers control commands with feature representations learned from raw images, forgoing the need for globally-consistent state estimation, trajectory planning, and handcrafted control design.
no code implementations • 4 Oct 2022 • Yunlong Song, Kexin Shi, Robert Penicka, Davide Scaramuzza
Recently, neural control policies have outperformed existing model-based planning-and-control methods for autonomously navigating quadrotors through cluttered environments in minimum time.
no code implementations • 7 Dec 2021 • Yunlong Song, Davide Scaramuzza
In this work, we provide an answer by using policy search for automatically choosing high-level decision variables for MPC, which leads to a novel policy-search-for-model-predictive-control framework.
no code implementations • 26 Mar 2021 • Yunlong Song, HaoChih Lin, Elia Kaufmann, Peter Duerr, Davide Scaramuzza
Professional race-car drivers can execute extreme overtaking maneuvers.
no code implementations • 15 Mar 2021 • Yunlong Song, Mats Steinweg, Elia Kaufmann, Davide Scaramuzza
In many robotic tasks, such as autonomous drone racing, the goal is to travel through a set of waypoints as fast as possible.
3 code implementations • 1 Sep 2020 • Yunlong Song, Selim Naji, Elia Kaufmann, Antonio Loquercio, Davide Scaramuzza
State-of-the-art quadrotor simulators have a rigid and highly-specialized structure: either are they really fast, physically accurate, or photo-realistic.
no code implementations • 18 Aug 2020 • Florian Fuchs, Yunlong Song, Elia Kaufmann, Davide Scaramuzza, Peter Duerr
Autonomous car racing is a major challenge in robotics.
1 code implementation • 20 Jul 2020 • Yunlong Song, Davide Scaramuzza
In this work, we leverage probabilistic decision-making approaches and the generalization capability of artificial neural networks to the powerful online optimization by learning a deep high-level policy for the MPC (High-MPC).