相关论文: Learning Agile, Vision-based Drone Flight: from Si…

Autonomous, agile quadrotor flight raises fundamental challenges for robotics research in terms of perception, planning, learning, and control. A versatile and standardized platform is needed to accelerate research and let practitioners…

Although quadcopters boast impressive traversal capabilities enabled by their omnidirectional maneuverability, the need for continuous pilot control in complex environments impedes their application in GNSS and telemetry-denied scenarios.…

Learning-based controllers have achieved impressive performance in agile quadrotor flight but typically rely on massive training in simulation, necessitating accurate system identification for effective Sim2Real transfer. However, even with…

Autonomous drone racing has attracted increasing interest as a research topic for exploring the limits of agile flight. However, existing studies primarily focus on obstacle-free racetracks, while the perception and dynamic challenges…

Scene transfer for vision-based mobile robotics applications is a highly relevant and challenging problem. The utility of a robot greatly depends on its ability to perform a task in the real world, outside of a well-controlled lab…

In this work, we propose a data-driven approach to optimize the parameters of a simulation such that control policies can be directly transferred from simulation to a real-world quadrotor. Our neural network-based policies take only onboard…

Tilt-rotor aerial robots enable omnidirectional maneuvering through thrust vectoring, but introduce significant control challenges due to the strong coupling between joint and rotor dynamics. While model-based controllers can achieve high…

We present an end-to-end imitation learning system for agile, off-road autonomous driving using only low-cost sensors. By imitating a model predictive controller equipped with advanced sensors, we train a deep neural network control policy…

The ability to perform aggressive movements, which are called aggressive flights, is important for quadrotors during navigation. However, aggressive quadrotor flights are still a great challenge to practical applications. The existing…

Quadrotors are agile. Unlike most other machines, they can traverse extremely complex environments at high speeds. To date, only expert human pilots have been able to fully exploit their capabilities. Autonomous operation with on-board…

This paper addresses the challenge of active perception within autonomous navigation in complex, unknown environments. Revisiting the foundational principles of active perception, we introduce an end-to-end reinforcement learning framework…

Developing control policies in simulation is often more practical and safer than directly running experiments in the real world. This applies to policies obtained from planning and optimization, and even more so to policies obtained from…

Obstacle avoidance is a fundamental vision-based task essential for enabling quadrotors to perform advanced applications. When planning the trajectory, existing approaches both on optimization and learning typically regard quadrotor as a…

In many robotic tasks, such as autonomous drone racing, the goal is to travel through a set of waypoints as fast as possible. A key challenge for this task is planning the time-optimal trajectory, which is typically solved by assuming…

Differentiable simulators provide analytic gradients, enabling more sample-efficient learning algorithms and paving the way for data intensive learning tasks such as learning from images. In this work, we demonstrate that locomotion…

Autonomous drone racing in complex environments requires agile, high-speed flight while maintaining reliable obstacle avoidance. Differentiable-physics-based policy learning has recently demonstrated high sample efficiency and remarkable…

A long-cherished vision of drones is to autonomously traverse through clutter to reach every corner of the world using onboard sensing and computation. In this paper, we combine onboard 3D lidar sensing and sim-to-real reinforcement…

Autonomous visual navigation is an essential element in robot autonomy. Reinforcement learning (RL) offers a promising policy training paradigm. However existing RL methods suffer from high sample complexity, poor sim-to-real transfer, and…

Learning control policies in simulation enables rapid, safe, and cost-effective development of advanced robotic capabilities. However, transferring these policies to the real world remains difficult due to the sim-to-real gap, where…

Autonomous drone navigation in dynamic environments remains a critical challenge, especially when dealing with unpredictable scenarios including fast-moving objects with rapidly changing goal positions. While traditional planners and…