3 papers
cs.RO2026
Learning Vision-Based Agile Gap Traversal: Differentiable Simulation with a Warm-Started Critic
Nuthasith Gerdpratoom, Tianchen Sun, Yichao Gao +1
Traversing narrow gaps is challenging for autonomous quadrotors, especially when control commands come directly from high-dimensional visual observations. Existing end-to-end metho…
cs.LG2025
DiffCoord: Differentiable Coordination for Distributed Multi-Agent Trajectory Optimization
Bingheng Wang, Yichao Gao, Tianchen Sun +2
Integrating the Alternating Direction Method of Multipliers (ADMM) with Differential Dynamic Programming (DDP) provides a scalable framework for distributed multi-agent trajectory…
cs.RO2025
Learning Agile Gate Traversal via Analytical Optimal Policy Gradient
Tianchen Sun, Bingheng Wang, Nuthasith Gerdpratoom +3
Traversing narrow gates presents a significant challenge and has become a standard benchmark for evaluating agile and precise quadrotor flight. Traditional modularized autonomous f…