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cs.RO2025
Zero-Shot Metric Depth Estimation via Monocular Visual-Inertial Rescaling for Autonomous Aerial Navigation
Steven Yang, Xiaoyu Tian, Kshitij Goel +1
This paper presents a methodology to predict metric depth from monocular RGB images and an inertial measurement unit (IMU). To enable collision avoidance during autonomous flight,…
cs.RO2025
Quadrotor Navigation using Reinforcement Learning with Privileged Information
Jonathan Lee, Abhishek Rathod, Kshitij Goel +2
This paper presents a reinforcement learning-based quadrotor navigation method that leverages efficient differentiable simulation, novel loss functions, and privileged information…