12 papers
Learning to Throw: Agile and Accurate Cable-Suspended Payload Delivery with a Quadrotor
Yifan Zhai, Elia Raimondi, Yunfan Ren +4
Quadrotors offer the agility needed to rapidly transport suspended payloads during time-critical applications, including search-and-rescue and medical delivery. While suspended-pay…
Continual Robot Policy Learning via Variational Neural Dynamics
Jiaxu Xing, Zhiyuan Zhu, Yunfan Ren +4
Robots deployed in the real world rarely operate under a single fixed dynamics model: wind changes, payloads vary, batteries drain, contacts shift, and hardware wears. Yet most lea…
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…
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…
Perception-Aware Time-Optimal Planning for Quadrotor Waypoint Flight
Chao Qin, Jiaxu Xing, Rudolf Reiter +4
Agile quadrotor flight pushes the limits of control, actuation, and onboard perception. While time-optimal trajectory planning has been extensively studied, existing approaches typ…
The Reality Gap in Robotics: Challenges, Solutions, and Best Practices
Elie Aljalbout, Jiaxu Xing, Angel Romero +9
Machine learning has facilitated significant advancements across various robotics domains, including navigation, locomotion, and manipulation. Many such achievements have been driv…