This paper presents a reinforcement learning-based quadrotor navigation method that leverages efficient differentiable simulation, novel loss functions, and privileged information to navigate around large obstacles. Prior learning-based methods perform well in scenes that exhibit narrow obstacles, but struggle when the goal location is blocked by large walls or terrain. In contrast, the proposed method utilizes time-of-arrival (ToA) maps as privileged information and a yaw alignment loss to guide the robot around large obstacles. The policy is evaluated in photo-realistic simulation environments containing large obstacles, sharp corners, and dead-ends. Our approach achieves an 86% success rate and outperforms baseline strategies by 34%. We deploy the policy onboard a custom quadrotor in outdoor cluttered environments both during the day and night. The policy is validated across 20 flights, covering 589 meters without collisions at speeds up to 4 m/s.
@article{arxiv.2509.08177,
title = {Quadrotor Navigation using Reinforcement Learning with Privileged Information},
author = {Jonathan Lee and Abhishek Rathod and Kshitij Goel and John Stecklein and Wennie Tabib},
journal= {arXiv preprint arXiv:2509.08177},
year = {2026}
}