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MPCS: Neuroplastic Continual Learning via Multi-Component Plasticity and Topology-Aware EWC Combining Trained Models in Reinforcement Learning Training Non-Differentiable Networks via Optimal Transport ShiftLIF: Efficient Multi-Level Spiking Neurons with Power-of-Two Quantization Probe-Geometry Alignment: Erasing the Cross-Sequence Memorization Signature Below Chance Benchmarking local Hebbian learning rules for memory storage and prototype extraction Robust volatility updates for Hierarchical Gaussian Filtering Spiking Sequence Machines and Transformers Affinity Is Not Enough: Recovering the Free Energy Principle in Mixture-of-Experts Scalable Learning in Structured Recurrent Spiking Neural Networks without Backpropagation Geometric and dynamical analysis of attractor boundaries and storage limits in kernel Hopfield networks Attractor FCM Physical Foundation Models: Fixed hardware implementations of large-scale neural networks When Does Structure Matter in Continual Learning? Dimensionality Controls When Modularity Shapes Representational Geometry Learning to Forget: Continual Learning with Adaptive Weight Decay Causal Learning with Neural Assemblies NORACL: Neurogenesis for Oracle-free Resource-Adaptive Continual Learning Text-Utilization for Encoder-dominated Speech Recognition Models EdgeSpike: Spiking Neural Networks for Low-Power Autonomous Sensing in Edge IoT Architectures EvoTSC: Evolving Feature Learning Models for Time Series Classification via Genetic Programming Analysis and Explainability of LLMs Via Evolutionary Methods Deployment-Aligned Low-Precision Neural Architecture Search for Spaceborne Edge AI SeaEvo: Advancing Algorithm Discovery with Strategy Space Evolution Primitive Recursion without Composition: Dynamical Characterizations, from Neural Networks to Polynomial ODEs MAEO: Multiobjective Animorphic Ensemble Optimization for Scalable Large-scale Engineering Applications Necessary and sufficient conditions for universality of Kolmogorov-Arnold networks Learn&Drop: Fast Learning of CNNs based on Layer Dropping Architecture-Induced Recoverability Bias in Differentiable Symbolic Regression Collocation-based Robust Physics Informed Neural Networks for time-dependent simulations of pollution propagation under thermal inversion conditions on Spitsbergen Structure-Guided Diffusion Model for EEG-Based Visual Cognition Reconstruction
Lander.AI: Adaptive Landing Behavior Agent for Expertise ...
Robinroy Peter, Lavanya Ratnabala, Demetros Aschu, Aleksey Fedos · 2024-03-11 · via cs.NE updates on arXiv.org

Mastering autonomous drone landing on dynamic platforms presents formidable challenges due to unpredictable velocities and external disturbances caused by the wind, ground effect, turbines or propellers of the docking platform. This study introduces an advanced Deep Reinforcement Learning (DRL) agent, Lander:AI, designed to navigate and land on platforms in the presence of windy conditions, thereby enhancing drone autonomy and safety. Lander:AI is rigorously trained within the gym-pybullet-drone simulation, an environment that mirrors real-world complexities, including wind turbulence, to ensure the agent's robustness and adaptability. The agent's capabilities were empirically validated with Crazyflie 2.1 drones across various test scenarios, encompassing both simulated environments and real-world conditions. The experimental results showcased Lander:AI's high-precision landing and its ability to adapt to moving platforms, even under wind-induced disturbances. Furthermore, the system performance was benchmarked against a baseline PID controller augmented with an Extended Kalman Filter, illustrating significant improvements in landing precision and error recovery. Lander:AI leverages bio-inspired learning to adapt to external forces like birds, enhancing drone adaptability without knowing force magnitudes.This research not only advances drone landing technologies, essential for inspection and emergency applications, but also highlights the potential of DRL in addressing intricate aerodynamic challenges.