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arXiv Machine Learning By Allan Minh-Tam Nguyen, Sree Showrya Kotala, Stefan Banioi-Crijman, Kurt Driessens, Rico M\"ockel

Curriculum-Based Adversarial Heterogeneous Agent Reinforcement Learning for Autonomous Quad-Copter Landing in Maritime Settings

Read the original on arXiv Machine Learning →

The paper presents a curriculum‑based adversarial heterogeneous agent reinforcement learning (HARL‑AC) approach for autonomous quad‑copter landing on a ship deck in maritime settings. Using Heterogeneous‑Agent Proximal Policy Optimization (HAPPO) in NVIDIA Isaac Lab, the authors train a cooperative control policy that outperforms domain‑randomized baselines, achieving up to 97.5% success on in‑distribution sea states and higher median success and lower crash rates on out‑of‑distribution sea states. The adversarially trained policy also exhibits more cautious behavior, slightly increasing timeouts but improving safety in severe, unseen conditions.

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