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

arXiv · AI, language, vision and robotics · article · Sep 11, 2026 · UTC

Recovering unmanned aerial vehicles (UAVs) in maritime environments is challenging due to wind turbulence and ship-deck motion, making it a valuable test case for alternative control and learning approaches as conventional landing approaches often become unreliable. We study simulated mid-air capture of quadrotor UAVs by a ship-mounted robotic arm, learning robust cooperative control policies with Heterogeneous-Agent Proximal Policy Optimization (HAPPO) Reinforcement Learning. We train with HAPPO using a curriculum and an adversarial wind agent (HARL-AC) in NVIDIA Isaac Lab, and compare the ob

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