16 papers · 1 filter
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…
LiteMVS: Efficient Multi-View Stereo with Foundation Distillation and Expert Aggregation
Tianbao Zhang, Zeyu Liu, Shuyu Wu +4
Real-time 3D perception is crucial for robotics, augmented reality, and embodied intelligence applications. Existing multi-view stereo (MVS) methods primarily rely on geometric cor…
Learning Agile Navigation in Crowded Environments for Quadruped Robots
Shuyu Wu, Zeyu Liu, Tianbao Zhang +6
Navigating dynamic and crowded environments presents significant challenges for quadruped robots due to severe sensor occlusion and unpredictable human motion. Existing approaches…
A Closed-Form 4-DoF Inter-Robot Pose Estimator using Bearing-only Measurements
Qixin De, Ao Zhuang, Yechen Zhang +2
Bearing-odometry-based cooperative localization has attracted increasing research interest due to its minimal infrastructure requirements, low communication bandwidth and broad app…
Asymmetric physics enables efficient learning in quadrupedal robot swarms
Yuang Zhang, Yunlong Song, Zhihao He +7
Animal collectives navigate cluttered environments through local coordination, yet robot swarms still struggle to reproduce this capability in the physical world. End-to-end learni…
Autonomous FPV Flight with Translational Optical Flow and Uncertainty Mask
Yang Deng, Yu Hu, Feng Yu +2
Autonomous FPV quadrotor flight in complex environments using a monocular RGB camera as the sole exteroceptive sensor remains a fundamental challenge. Recent research has shown tha…
Simple but Stable, Fast and Safe: Achieve End-to-end Control by High-Fidelity Differentiable Simulation
Fanxing Li, Shengyang Wang, Yuxiang Huang +5
Obstacle avoidance is a fundamental vision-based task essential for enabling quadrotors to perform advanced applications. When planning the trajectory, existing approaches both on…
E2E-Fly: An Integrated Training-to-Deployment System for End-to-End Quadrotor Autonomy
Fangyu Sun, Fanxing Li, Linzuo Zhang +5
Training and transferring learning-based policies for quadrotors from simulation to reality remains challenging due to inefficient visual rendering, physical modeling inaccuracies,…
Vision-Based End-to-End Learning for UAV Traversal of Irregular Gaps via Differentiable Simulation
Linzuo Zhang, Yu Hu, Feng Yu +3
-Navigation through narrow and irregular gaps is an essential skill in autonomous drones for applications such as inspection, search-and-rescue, and disaster response. However, tra…
QuadAgent: A Responsive Agent System for Vision-Language Guided Quadrotor Agile Flight
Ao Zhuang, Feng Yu, Tianbao Zhang +2
We present QuadAgent, a training-free agent system for agile quadrotor flight guided by vision-language inputs. Unlike prior end-to-end or serial agent approaches, QuadAgent decoup…
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…
Vector Field Augmented Differentiable Policy Learning for Vision-Based Drone Racing
Yang Su, Feng Yu, Yu Hu +4
Autonomous drone racing in complex environments requires agile, high-speed flight while maintaining reliable obstacle avoidance. Differentiable-physics-based policy learning has re…
AI-IO: An Aerodynamics-Inspired Real-Time Inertial Odometry for Quadrotors
Jiahao Cui, Feng Yu, Linzuo Zhang +2
Inertial Odometry (IO) has gained attention in quadrotor applications due to its sole reliance on inertial measurement units (IMUs), attributed to its lightweight design, low cost,…
Curriculum Reinforcement Learning for Quadrotor Racing with Random Obstacles
Fangyu Sun, Fanxing Li, Yu Hu +4
Autonomous drone racing has attracted increasing interest as a research topic for exploring the limits of agile flight. However, existing studies primarily focus on obstacle-free r…
Zero-Shot UAV Navigation in Forests via Relightable 3D Gaussian Splatting
Zinan Lv, Yeqian Qian, Chen Sang +3
UAV navigation in unstructured outdoor environments using passive monocular vision is hindered by the substantial visual domain gap between simulation and reality. While 3D Gaussia…