一度のキャリブレーションでどんなチームでも飛行可能：残差補正に基づく低忠実度訓練による協調ドローン群制御
Calibrate Once, Fly Any Team: Residual-Grounded Low-Fidelity Training for Cooperative Drone Swarms
高忠実度シミュレータでの強化学習を不要にし、低忠実度シミュレータを1機のキャリブレーション飛行で補正して、チーム規模に依存しない協調ドローン群ポリシーを訓練する手法を提案。
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著者: Maxim Mednikov, Oren Gal
分類: cs.MA, cs.RO
原文アブストラクト
Training multi-agent drone-swarm policies directly in high-fidelity (HF) rigid-body physics is accurate but computationally expensive. This cost scales poorly with team size, as each additional agent multiplies contact-resolution complexity and sharply raises the in-simulation crash rate. To address this, we propose a mixed-fidelity training scheme that eliminates HF reinforcement learning entirely. A single shared, decentralized policy is optimized inside a fully-differentiable, JAX-native low-fidelity (LF) point-mass simulator. The simulator is corrected by a small, per-agent bagged residual ensemble fit once, offline, using short calibration flights in the HF simulator. Because calibration requires only one isolated drone, the data collection budget does not compound with team size. Reference trajectories are generated by rolling out an existing LF-only policy and tracked in the HF simulator by a zero-training PD controller. Evaluated across four cooperative drone tasks and team sizes from 3 to 18, the residual-corrected policy outperforms an uncorrected LF baseline in all combinations, and a from-scratch HF policy in 22 of 24 combinations tested. It trails an HF-finetuned policy by a margin that narrows steadily with team size. Ultimately, the proposed method achieves near-equivalent performance at the largest team sizes at a fraction of the computational cost, completely avoiding the high crash rates typical of HF training.