{"id":"https://openalex.org/W4391019623","doi":"https://doi.org/10.1109/lra.2024.3356168","title":"<i>OmniDrones:</i> An Efficient and Flexible Platform for Reinforcement Learning in Drone Control","display_name":"<i>OmniDrones:</i> An Efficient and Flexible Platform for Reinforcement Learning in Drone Control","publication_year":2024,"publication_date":"2024-01-19","ids":{"openalex":"https://openalex.org/W4391019623","doi":"https://doi.org/10.1109/lra.2024.3356168"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3356168","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2024.3356168","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1109/lra.2024.3356168","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102953539","display_name":"Botian Xu","orcid":"https://orcid.org/0000-0002-1460-7204"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Botian Xu","raw_affiliation_strings":["Electronic Engineering Department, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Electronic Engineering Department, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080013325","display_name":"Feng Gao","orcid":"https://orcid.org/0000-0001-7374-9491"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feng Gao","raw_affiliation_strings":["Institute for Interdisciplinary Information Sciences, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Institute for Interdisciplinary Information Sciences, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011646653","display_name":"Chao Yu","orcid":"https://orcid.org/0000-0001-6975-0158"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chao Yu","raw_affiliation_strings":["Electronic Engineering Department, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Electronic Engineering Department, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034919789","display_name":"Ruize Zhang","orcid":"https://orcid.org/0009-0007-6666-3906"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruize Zhang","raw_affiliation_strings":["Electronic Engineering Department, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Electronic Engineering Department, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100668103","display_name":"Yi Wu","orcid":"https://orcid.org/0000-0001-9057-5817"},"institutions":[{"id":"https://openalex.org/I4210122302","display_name":"ShangHai JiAi Genetics & IVF Institute","ror":"https://ror.org/02rgbry52","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210122302"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yi Wu","raw_affiliation_strings":["Institute for Interdisciplinary Information Sciences, Tsinghua University, Beijing, China","Shanghai Qi Zhi Institute, China"],"affiliations":[{"raw_affiliation_string":"Institute for Interdisciplinary Information Sciences, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Shanghai Qi Zhi Institute, China","institution_ids":["https://openalex.org/I4210122302"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100445061","display_name":"Yu Wang","orcid":"https://orcid.org/0000-0001-6108-5157"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Wang","raw_affiliation_strings":["Electronic Engineering Department, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Electronic Engineering Department, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5102953539"],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":12.851,"has_fulltext":false,"cited_by_count":37,"citation_normalized_percentile":{"value":0.98951287,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"9","issue":"3","first_page":"2838","last_page":"2844"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9882000088691711,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9865999817848206,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.9052421450614929},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.7865346074104309},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7856767177581787},{"id":"https://openalex.org/keywords/suite","display_name":"Suite","score":0.7230232357978821},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7047311663627625},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.48355337977409363}],"concepts":[{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.9052421450614929},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.7865346074104309},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7856767177581787},{"id":"https://openalex.org/C79581498","wikidata":"https://www.wikidata.org/wiki/Q1367530","display_name":"Suite","level":2,"score":0.7230232357978821},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7047311663627625},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48355337977409363},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3356168","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2024.3356168","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1109/lra.2024.3356168","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2024.3356168","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2045798616","display_name":null,"funder_award_id":"62325405","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2511730577","display_name":null,"funder_award_id":"M-0248","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6839492696","display_name":null,"funder_award_id":"U19B2019","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":51,"referenced_works":["https://openalex.org/W1923344279","https://openalex.org/W1924770834","https://openalex.org/W2109656638","https://openalex.org/W2155007355","https://openalex.org/W2167340365","https://openalex.org/W2465948386","https://openalex.org/W2615547864","https://openalex.org/W2733312032","https://openalex.org/W2736601468","https://openalex.org/W2747213132","https://openalex.org/W2779458783","https://openalex.org/W2783007554","https://openalex.org/W2888348201","https://openalex.org/W2954048160","https://openalex.org/W2962890638","https://openalex.org/W2963762747","https://openalex.org/W2963796870","https://openalex.org/W2982316857","https://openalex.org/W2996037775","https://openalex.org/W3003344567","https://openalex.org/W3007769740","https://openalex.org/W3020718655","https://openalex.org/W3099343074","https://openalex.org/W3127031155","https://openalex.org/W3175254947","https://openalex.org/W4200438872","https://openalex.org/W4206742276","https://openalex.org/W4249312141","https://openalex.org/W4285102199","https://openalex.org/W4312551606","https://openalex.org/W4367016688","https://openalex.org/W4378713510","https://openalex.org/W4379390289","https://openalex.org/W4383109238","https://openalex.org/W6640212811","https://openalex.org/W6682849425","https://openalex.org/W6738796088","https://openalex.org/W6741002519","https://openalex.org/W6747473740","https://openalex.org/W6748839928","https://openalex.org/W6752941136","https://openalex.org/W6766805167","https://openalex.org/W6772005887","https://openalex.org/W6782364735","https://openalex.org/W6800004206","https://openalex.org/W6801964084","https://openalex.org/W6802002411","https://openalex.org/W6839344006","https://openalex.org/W6840380725","https://openalex.org/W6852417783","https://openalex.org/W6853332527"],"related_works":["https://openalex.org/W4379115841","https://openalex.org/W2083794993","https://openalex.org/W1511772879","https://openalex.org/W4394660363","https://openalex.org/W2186315912","https://openalex.org/W2248125223","https://openalex.org/W2588591308","https://openalex.org/W2910542634","https://openalex.org/W2127898439","https://openalex.org/W3082894236"],"abstract_inverted_index":{"In":[0,68],"this":[1,134],"work,":[2],"we":[3,70,123],"introduce":[4],"<italic":[5,115],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[6,116],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">OmniDrones</i>":[7,117],",":[8],"an":[9,72,79],"efficient":[10],"and":[11,39,102,118],"flexible":[12],"platform":[13,135],"tailored":[14],"for":[15,84],"reinforcement":[16],"learning":[17],"in":[18],"drone":[19,74,85,90,145],"control,":[20],"built":[21],"on":[22,45,128,140],"Nvidia's":[23],"Omniverse":[24],"Isaac":[25],"Sim.":[26],"It":[27,50,87],"employs":[28],"a":[29,53,103],"bottom-up":[30],"design":[31,38],"approach":[32],"that":[33],"allows":[34],"users":[35],"to":[36,64,119,143],"easily":[37],"experiment":[40],"with":[41,78],"various":[42],"application":[43],"scenarios":[44],"top":[46],"of":[47,55,82,105,114],"GPU-parallelized":[48],"simulations.":[49],"also":[51,124],"offers":[52],"range":[54],"benchmark":[56,100,130],"tasks,":[57,101],"presenting":[58],"challenges":[59],"ranging":[60],"from":[61],"single-drone":[62],"hovering":[63],"over-actuated":[65],"system":[66],"tracking.":[67],"summary,":[69],"propose":[71],"open-sourced":[73],"simulation":[75],"platform,":[76],"equipped":[77],"extensive":[80],"suite":[81],"tools":[83],"learning.":[86],"includes":[88],"4":[89,95],"models,":[91],"5":[92],"sensor":[93],"modalities,":[94],"control":[96],"modes,":[97],"over":[98],"10":[99],"selection":[104],"widely":[106],"used":[107],"RL":[108,142],"baselines.":[109],"To":[110],"showcase":[111],"the":[112],"capabilities":[113],"support":[120],"future":[121],"research,":[122],"provide":[125],"preliminary":[126],"results":[127],"these":[129],"tasks.":[131],"We":[132],"hope":[133],"will":[136],"encourage":[137],"further":[138],"studies":[139],"applying":[141],"practical":[144],"systems.":[146]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":27},{"year":2024,"cited_by_count":5}],"updated_date":"2026-04-01T17:29:45.350535","created_date":"2025-10-10T00:00:00"}
