10 papers
Bridging Performance and Generalization in Reinforcement Learning for Agile Flight
Jonathan Green, Jiaxu Xing, Nico Messikommer +2
Autonomous drone racing is a fundamentally challenging regime for autonomous aerial robots, requiring time-optimal control while operating under persistent actuation saturation. Wh…
Hybrid Event Frame Sensors: Modeling, Calibration, and Simulation
Yunfan Lu, Nico Messikommer, Xiaogang Xu +5
Hybrid event-frame sensors integrate an Event Vision Sensor (EVS) and an Active Pixel Sensor (APS) within a single chip, combining the high dynamic range and low latency of the EVS…
Approximate Imitation Learning for Event-based Quadrotor Flight in Cluttered Environments
Nico Messikommer, Jiaxu Xing, Leonard Bauersfeld +3
Event cameras offer high temporal resolution and low latency, making them ideal sensors for high-speed robotic applications where conventional cameras suffer from motion blur. Howe…
Generative Event Pretraining with Foundation Model Alignment
Jianwen Cao, Jiaxu Xing, Nico Messikommer +1
Event cameras provide robust visual signals under fast motion and challenging illumination conditions thanks to their microsecond latency and high dynamic range. However, their uni…
Data-Driven Feature Tracking for Event Cameras With and Without Frames
Nico Messikommer, Carter Fang, Mathias Gehrig +2
Because of their high temporal resolution, increased resilience to motion blur, and very sparse output, event cameras have been shown to be ideal for low-latency and low-bandwidth…
Environment as Policy: Learning to Race in Unseen Tracks
Hongze Wang, Jiaxu Xing, Nico Messikommer +1
Reinforcement learning (RL) has achieved outstanding success in complex robot control tasks, such as drone racing, where the RL agents have outperformed human champions in a known…