相关论文: VisFly: An Efficient and Versatile Simulator for T…

Reinforcement learning (RL) is an agent-based approach for teaching robots to navigate within the physical world. Gathering data for RL is known to be a laborious task, and real-world experiments can be risky. Simulators facilitate the…

Different from visible cameras which record intensity images frame by frame, the biologically inspired event camera produces a stream of asynchronous and sparse events with much lower latency. In practice, visible cameras can better…

We demonstrate the capabilities of an attention-based end-to-end approach for high-speed vision-based quadrotor obstacle avoidance in dense, cluttered environments, with comparison to various state-of-the-art learning architectures.…

Quadrotors are highly nonlinear dynamical systems that require carefully tuned controllers to be pushed to their physical limits. Recently, learning-based control policies have been proposed for quadrotors, as they would potentially allow…

Quadrotors have demonstrated remarkable versatility, yet their full aerobatic potential remains largely untapped due to inherent underactuation and the complexity of aggressive maneuvers. Traditional approaches, separating trajectory…

Optical flow captures the motion of pixels in an image sequence over time, providing information about movement, depth, and environmental structure. Flying insects utilize this information to navigate and avoid obstacles, allowing them to…

Modern Vision-Language Models (VLMs) remain poorly characterized in multi-step visual interactions, particularly in how they integrate perception, memory, and action over long horizons. We introduce VisGym, a gymnasium of 17 environments…

Vision-Language-Action (VLA) models enable embodied decision-making but rely heavily on imitation learning, leading to compounding errors and poor robustness under distribution shift. Reinforcement learning (RL) can mitigate these issues…

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.…

Vision transformer (ViT) and its variants have swept through visual learning leaderboards and offer state-of-the-art accuracy in tasks such as image classification, object detection, and semantic segmentation by attending to different parts…

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…

Autonomous learning of dexterous, long-horizon robotic skills has been a longstanding pursuit of embodied AI. Recent advances in robotic reinforcement learning (RL) have demonstrated remarkable performance and robustness in real-world…

Navigating complex indoor environments requires a deep understanding of the space the robotic agent is acting into to correctly inform the navigation process of the agent towards the goal location. In recent learning-based navigation…

Quadcopters have been studied for decades thanks to their maneuverability and capability of operating in a variety of circumstances. However, quadcopters suffer from dynamical nonlinearity, actuator saturation, as well as sensor noise that…

We propose a new simulator, training approach, and policy architecture, collectively called SOUS VIDE, for end-to-end visual drone navigation. Our trained policies exhibit zero-shot sim-to-real transfer with robust real-world performance…

Learning-based methods, particularly Reinforcement Learning (RL), hold great promise for streamlining deployment, enhancing performance, and achieving generalization in the control of autonomous multirotor aerial vehicles. Deep RL has been…

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…

Machines are a long way from robustly solving open-world perception-control tasks, such as first-person view (FPV) aerial navigation. While recent advances in end-to-end Machine Learning, especially Imitation and Reinforcement Learning…

Developing and evaluating vision science methods require robust and efficient tools for assessing their performance in various real-world scenarios. This study presents a novel virtual reality (VR) simulation tool that simulates real-world…

Training embodied AI agents depends critically on the visual fidelity of simulation environments and the ability to model dynamic humans. Current simulators rely on mesh-based rasterization with limited visual realism, and their support for…