5 papers
DiffDreamer: Coupling World Models with Differentiable Simulation for Agile Quadrotor Control
Fanxing Li, Yuxiang Huang, Shengyang Wang +7
Tasks such as quadrotor dynamic-gate racing require agents to anticipate external motion while maintaining precise high-frequency control. World-model-based reinforcement learning…
EagleDepth: Efficient Fine-Grained Depth Estimation via Pixel Diffusion Decoder
Bowen Chai, Tianbao Zhang, Shuyu Wu +3
Recovering detailed geometry from high-resolution images is critical for precise perception of the surroundings and objects. However, existing methods which use latent-space modeli…
VisFly-Lab: Unified Differentiable Framework for First-Order Reinforcement Learning of Quadrotor Control
Fanxing Li, Fangyu Sun, Tianbao Zhang +5
First-order reinforcement learning with differentiable simulation is promising for quadrotor control, but practical progress remains fragmented across task-specific settings. To su…
CoordAR: One-Reference 6D Pose Estimation of Novel Objects via Autoregressive Coordinate Map Generation
Dexin Zuo, Ang Li, Wei Wang +2
Object 6D pose estimation, a crucial task for robotics and augmented reality applications, becomes particularly challenging when dealing with novel objects whose 3D models are not…
StableTracker: Learning to Stably Track Target via Differentiable Simulation
Fanxing Li, Shengyang Wang, Fangyu Sun +5
Existing FPV object tracking methods heavily rely on handcrafted modular pipelines, which incur high onboard computation and cumulative errors. While learning-based approaches have…