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cs.RO updates on arXiv.org

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
Lander.AI: Adaptive Landing Behavior Agent for Expertise ...
Robinroy Peter, Lavanya Ratnabala, Demetros Aschu, Aleksey Fedos · 2024-03-11 · via cs.RO 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.