Learning to fly by crashing
Citations
525 citations
382 citations
Cites background or methods or result from "Learning to fly by crashing"
...For this approach, we implemented the algorithm proposed in [10], which was shown to have very good control capabilities in indoor environments....
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...effective flying policies [6], [9], [10], but they still leave the issue of collecting enough expert trajectories to imitate....
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...Recall that [10] uses only collision probabilities, while DroNet uses also predicted steering angles, too....
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...tionally, as pointed out by [10], collision trajectories avoided by expert human pilots are actually necessary to let the robotic platform learn how to behave in dangerous situations....
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...jectories [10], or model predictive control [12]....
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318 citations
291 citations
Cites background from "Learning to fly by crashing"
...Variants of this approach have been demonstrated on self-driving cars [18], [19] and drones [20], [21], [22]....
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281 citations
Cites background from "Learning to fly by crashing"
...A number of recent works have studied self-supervised robotic learning, where large-scale unattended data collection is used to learn individual skills such as grasping [22], [23], [24], [25], pushgrasp synergies [26], or obstacle avoidance [27], [28]....
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References
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23,074 citations
"Learning to fly by crashing" refers background in this paper
...Deep reinforcement learning methods [20] have shown impressive results, however they are too data intensive (order of million examples) for our task of drone flying....
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21,729 citations
13,081 citations
"Learning to fly by crashing" refers background or methods in this paper
...We use ImageNet-pretrained weights as initialization for our network [22]....
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...A key component of deep learning, is the high amount of data required to train these generalizable models [21], [22]....
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4,091 citations
"Learning to fly by crashing" refers methods in this paper
...For this purpose, we use PTAM [27] module that localizes the robot and helps it backtrack....
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...For this purpose, we use PTAM [26] module that localizes the robot and helps it backtrack....
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...Algorithm 1 Data Collection 1: Init: Track position error using PTAM from intial Take Off location 2: while No Crash do 3: Choose a random direction 4: while No Collision do 5: Continue in the same direction 6: while Position error > do 7: calculate control command based on position error Algorithm 1 describes our method of data collection in more detail....
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