相关论文: GaussFly: Contrastive Reinforcement Learning for V…

UAV navigation in unstructured outdoor environments using passive monocular vision is hindered by the substantial visual domain gap between simulation and reality. While 3D Gaussian Splatting enables photorealistic scene reconstruction from…

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…

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…

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…

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.…

End-to-end (E2E) autonomous driving aims to directly map sensory observations to driving actions, but its real-world deployment is hindered by evolving data distributions and the high cost of continual annotation. While combining imitation…

Recent success in legged robot locomotion is attributed to the integration of reinforcement learning and physical simulators. However, these policies often encounter challenges when deployed in real-world environments due to sim-to-real…

We present VisFly, a quadrotor simulator designed to efficiently train vision-based flight policies using reinforcement learning algorithms. VisFly offers a user-friendly framework and interfaces, leveraging Habitat-Sim's rendering engines…

Modern autonomous navigation systems predominantly rely on lidar and depth cameras. However, a fundamental question remains: Can flying robots navigate in clutter using solely monocular RGB images? Given the prohibitive costs of real-world…

Vision-language-action (VLA) policies have advanced language-conditioned robotic manipulation by transferring semantic priors from pretrained vision-language models to action generation. However, standard action-imitation learning often…

Visuomotor policies learned from teleoperated demonstrations face challenges such as lengthy data collection, high costs, and limited data diversity. Existing approaches address these issues by augmenting image observations in RGB space or…

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…

In this study, we present an end-to-end pipeline capable of converting drone-captured video streams into high-fidelity 3D reconstructions with minimal latency. Unmanned aerial vehicles (UAVs) are extensively used in aerial real-time…

UAVs play an important role in applications such as autonomous exploration, disaster response, and infrastructure inspection. However, UAV VLN in complex 3D environments remains challenging. A key difficulty is the structural representation…

Autonomous drones can operate in remote and unstructured environments, enabling various real-world applications. However, the lack of effective vision-based algorithms has been a stumbling block to achieving this goal. Existing systems…

Deep reinforcement learning has emerged as a promising and powerful technique for automatically acquiring control policies that can process raw sensory inputs, such as images, and perform complex behaviors. However, extending deep RL to…

Autonomous drones capable of interpreting and executing high-level language instructions in unstructured environments remain a long-standing goal. Yet existing approaches are constrained by their dependence on hand-crafted skills, extensive…

Learning visuomotor policies for agile quadrotor flight presents significant difficulties, primarily from inefficient policy exploration caused by high-dimensional visual inputs and the need for precise and low-latency control. To address…

Deep reinforcement learning provides a promising approach for vision-based control of real-world robots. However, the generalization of such models depends critically on the quantity and variety of data available for training. This data can…

We present a novel approach for photorealistic robot simulation that integrates 3D Gaussian Splatting as a drop-in renderer within vectorized physics simulators such as IsaacGym. This enables unprecedented speed -- exceeding 100,000 steps…