Equivariant Reinforcement Learning for Quadrotor UAV
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Publication:6400965
arXiv2206.01233MaRDI QIDQ6400965FDOQ6400965
Authors: Beomyeol Yu, Taeyoung Lee 
Publication date: 2 June 2022
Abstract: This paper presents an equivariant reinforcement learning framework for quadrotor unmanned aerial vehicles. Successful training of reinforcement learning often requires numerous interactions with the environments, which hinders its applicability especially when the available computational resources are limited, or when there is no reliable simulation model. We identified an equivariance property of the quadrotor dynamics such that the dimension of the state required in the training is reduced by one, thereby improving the sampling efficiency of reinforcement learning substantially. This is illustrated by numerical examples with popular reinforcement learning techniques of TD3 and SAC.
Has companion code repository: https://github.com/fdcl-gwu/gym-rotor
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