Flightmare: A Flexible Quadrotor Simulator (arXiv 2020)

date_range 04/09/2020

Y. Song, S. Naji, E. Kaufmann, A. Loquercio, D. ScaramuzzaAbstract Currently available quadrotor simulators have a rigid and highly-specialized structure: either are they really fast, physically accurate, or photo-realistic. In this work, we propose a paradigm-shift in the development of simulat...…

Super-Human Performance in Gran Turismo Sport Using Deep Reinforcement Learning (arXiv 2020)

date_range 01/08/2020

F. Fuchs, Y. Song, E. Kaufmann, D. Scaramuzza, P. DuerrAbstract Autonomous car racing raises fundamental robotics challenges such as planning minimum-time trajectories under uncertain dynamics and controlling the car at its friction limits. In this project, we consider the task of autonomous car...…

High-MPC: Learning High-Level Policies for Model Predictive Control (IROS 2020)

date_range 01/08/2020

Yunlong Song, Davide ScaramuzzaAbstract The combination of policy search and deep neural networks holds the promise of automating a variety of decision-making tasks. Model Predictive Control (MPC) provides robust solutions to robot control tasks by making use of a dynamical model of the system a...…