{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/quadswarm-a-modular-multi-quadrotor-simulator","title":"QuadSwarm: A Modular Multi-Quadrotor Simulator for Deep Reinforcement Learning with Direct Thrust Control","arxiv_id":"2306.09537","date":"2023-06-15","proceeding":null,"authors":["Zhehui Huang","Sumeet Batra","Tao Chen","Rahul Krupani","Tushar Kumar","Artem Molchanov","Aleksei Petrenko","James A. Preiss","Zhaojing Yang","Gaurav S. Sukhatme"],"abstract":"Reinforcement learning (RL) has shown promise in creating robust policies for robotics tasks. However, contemporary RL algorithms are data-hungry, often requiring billions of environment transitions to train successful policies. This necessitates the use of fast and highly-parallelizable simulators. In addition to speed, such simulators need to model the physics of the robots and their interaction with the environment to a level acceptable for transferring policies learned in simulation to reality. We present QuadSwarm, a fast, reliable simulator for research in single and multi-robot RL for quadrotors that addresses both issues. QuadSwarm, with fast forward-dynamics propagation decoupled from rendering, is designed to be highly parallelizable such that throughput scales linearly with additional compute. It provides multiple components tailored toward multi-robot RL, including diverse training scenarios, and provides domain randomization to facilitate the development and sim2real transfer of multi-quadrotor control policies. Initial experiments suggest that QuadSwarm achieves over 48,500 simulation samples per second (SPS) on a single quadrotor and over 62,000 SPS on eight quadrotors on a 16-core CPU. The code can be found in https://github.com/Zhehui-Huang/quad-swarm-rl.","url_abs":"https://arxiv.org/abs/2306.09537v1","url_pdf":"https://arxiv.org/pdf/2306.09537v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"quadswarm-a-modular-multi-quadrotor-simulator","repo_url":"https://github.com/zhehui-huang/quad-swarm-rl","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"pytorch","reach":{"status":"ok"}}],"tasks":[{"task_slug":null,"task_name":"CPU"},{"task_slug":"deep-reinforcement-learning","task_name":"Deep Reinforcement Learning"},{"task_slug":"reinforcement-learning-1","task_name":"Reinforcement Learning (RL)"}],"methods":[{"method_slug":"sps-1","method_name":"SPS"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}