mlsanityData to 14 Oct 2026

Equivariant Reinforcement Learning for Quadrotor UAV

arXiv 2206.01233 ↗First posted 2 Jun 2022cs.LG math.OCcited by 6

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Abstract (arXiv)

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.

Key facts. Cited by 6 papers in the map (data through 14 Oct 2026). Builds on 15 of its 27 references that are in the map. First posted on arXiv 2 Jun 2022.

Builds on

15 of 27 references.

References · 15

  1. 2019PyTorch: An Imperative Style, High-Performance Deep Learning Librarycited by 20,305
  2. 2018Soft Actor-Critic: Off-Policy Maximum Entropy Deep Reinforcement Learning with a Stochastic Actorcited by 4,885
  3. 2018Addressing Function Approximation Error in Actor-Critic Methodscited by 2,417
  4. 2016OpenAI Gymcited by 1,736
  5. 2016Group Equivariant Convolutional Networkscited by 1,165
  6. 2016Geometric deep learning: going beyond Euclidean datacited by 1,048
  7. 2019General E(2)-Equivariant Steerable CNNscited by 446
  8. 2020MDP Homomorphic Networks: Group Symmetries in Reinforcement Learningcited by 142
  9. 2017Control of a Quadrotor with Reinforcement Learningcited by 92
  10. 2022SO(2)-Equivariant Reinforcement Learningcited by 84
  11. 2021Autonomous Drone Racing with Deep Reinforcement Learningcited by 60
  12. 2019Sim-to-(Multi)-Real: Transfer of Low-Level Robust Control Policies to Multiple Quadrotorscited by 45
3 more
  1. 2020Model-Based Meta-Reinforcement Learning for Flight with Suspended Payloadscited by 30
  2. 2021Multi-Agent MDP Homomorphic Networkscited by 25
  3. 2016Hierarchical Question Answering for Long Documentscited by 21

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2023: 1; 2024: 1; 2025: 2; 2026: 2.

6 papers.

  1. 2023SO(2)-Equivariant Downwash Models for Close Proximity Flightcited by 7
  2. 2024Leveraging Symmetry to Accelerate Learning of Trajectory Tracking Controllers for Free-Flying Robotic Systemscited by 2
  3. 2025Equivariant Reinforcement Learning Frameworks for Quadrotor Low-Level Controlcited by 2
  4. 2025Symmetries-enhanced Multi-Agent Reinforcement Learningcited by 1
  5. 2026Multi-Task Reinforcement Learning of Drone Aerobatics by Exploiting Geometric Symmetriescited by 0
  6. 2026Physics-Aware End-to-End Deep Reinforcement Learning for Quadcopter Control with Actuator Dynamicscited by 0