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FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
Harfang3D Dog-Fight Sandbox: A Reinforcement Learning Res...
Muhammed Murat Özbek, Süleyman Yıldırım, Muhammet Aksoy, Eric Ke · 2022-10-14 · via cs.RO updates on arXiv.org

The advent of deep learning (DL) gave rise to significant breakthroughs in Reinforcement Learning (RL) research. Deep Reinforcement Learning (DRL) algorithms have reached super-human level skills when applied to vision-based control problems as such in Atari 2600 games where environment states were extracted from pixel information. Unfortunately, these environments are far from being applicable to highly dynamic and complex real-world tasks as in autonomous control of a fighter aircraft since these environments only involve 2D representation of a visual world. Here, we present a semi-realistic flight simulation environment Harfang3D Dog-Fight Sandbox for fighter aircrafts. It is aimed to be a flexible toolbox for the investigation of main challenges in aviation studies using Reinforcement Learning. The program provides easy access to flight dynamics model, environment states, and aerodynamics of the plane enabling user to customize any specific task in order to build intelligent decision making (control) systems via RL. The software also allows deployment of bot aircrafts and development of multi-agent tasks. This way, multiple groups of aircrafts can be configured to be competitive or cooperative agents to perform complicated tasks including Dog Fight. During the experiments, we carried out training for two different scenarios: navigating to a designated location and within visual range (WVR) combat, shortly Dog Fight. Using Deep Reinforcement Learning techniques for both scenarios, we were able to train competent agents that exhibit human-like behaviours. Based on this results, it is confirmed that Harfang3D Dog-Fight Sandbox can be utilized as a 3D realistic RL research platform.