Flappy Hummingbird: An Open Source Dynamic Simulation of Flapping Wing Robots and Animals

2019-02-25 · Fan Fei, Zhan Tu, Yilun Yang, Jian Zhang, Xinyan Deng

Insects and hummingbirds exhibit extraordinary flight capabilities and can simultaneously master seemingly conflicting goals: stable hovering and aggressive maneuvering, unmatched by small scale man-made vehicles. Flapping Wing Micro Air Vehicles (FWMAVs) hold great promise for closing this performance gap. However, design and control of such systems remain challenging due to various constraints. Here, we present an open source high fidelity dynamic simulation for FWMAVs to serve as a testbed for the design, optimization and flight control of FWMAVs. For simulation validation, we recreated the hummingbird-scale robot developed in our lab in the simulation. System identification was performed to obtain the model parameters. The force generation, open-loop and closed-loop dynamic response between simulated and experimental flights were compared and validated. The unsteady aerodynamics and the highly nonlinear flight dynamics present challenging control problems for conventional and learning control algorithms such as Reinforcement Learning. The interface of the simulation is fully compatible with OpenAI Gym environment. As a benchmark study, we present a linear controller for hovering stabilization and a Deep Reinforcement Learning control policy for goal-directed maneuvering. Finally, we demonstrate direct simulation-to-real transfer of both control policies onto the physical robot, further demonstrating the fidelity of the simulation.

📄 PDF Abstract BibTeX arXiv:1902.09628

Code (1)

purdue-biorobotics/flappy 공식 구현 tf

Tasks

Deep Reinforcement LearningOpenAI Gym reinforcement-learning Reinforcement Learning Reinforcement Learning (RL)

Learning Extreme Hummingbird Maneuvers on Flapping Wing Robots

2019-02-25 · Fan Fei, Zhan Tu, Jian Zhang, Xinyan Deng

Biological studies show that hummingbirds can perform extreme aerobatic maneuvers during fast escape. Given a sudden looming visual stimulus at hover, a hummingbird initiates a fast backward translation coupled with a 18…

reinforcement-learning Reinforcement Learning Reinforcement Learning (RL)

A Tensor Compiler for Unified Machine Learning Prediction Serving

2020-10-09 · Supun Nakandala, Karla Saur, Gyeong-In Yu, Konstantinos Karanasos 외

Machine Learning (ML) adoption in the enterprise requires simpler and more efficient software infrastructure---the bespoke solutions typical in large web companies are simply untenable. Model scoring, the process of obta…

BIG-bench Machine Learning CPU GPU

Procedural Game Level Design with Deep Reinforcement Learning

2025-10-16 · Miraç Buğra Özkan arxiv

Procedural content generation (PCG) has become an increasingly popular technique in game development, allowing developers to generate dynamic, replayable, and scalable environments with reduced manual effort. In this stu…

Reinforcement Learning

Playing Flappy Bird via Asynchronous Advantage Actor Critic Algorithm

2019-07-06 · Elit Cenk Alp, Mehmet Serdar Guzel

Flappy Bird, which has a very high popularity, has been trained in many algorithms. Some of these studies were trained from raw pixel values of game and some from specific attributes. In this study, the model was trained…

reinforcement-learning Reinforcement Learning Reinforcement Learning (RL)

Hummingbird: High Fidelity Image Generation via Multimodal Context Alignment

2025-02-07 · Minh-Quan Le, Gaurav Mittal, Tianjian Meng, A S M Iftekhar 외

While diffusion models are powerful in generating high-quality, diverse synthetic data for object-centric tasks, existing methods struggle with scene-aware tasks such as Visual Question Answering (VQA) and Human-Object I…

Diversity Human-Object Interaction Detection Image Generation MME+3