{"paper":{"title":"Vision Transformers for End-to-End Vision-Based Quadrotor Obstacle Avoidance","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","eess.IV"],"primary_cat":"cs.RO","authors_text":"Anish Bhattacharya, Dhruv Parikh, Nikolai Matni, Nishanth Rao, Pratik Kunapuli, Vijay Kumar, Yuezhan Tao, Yuwei Wu","submitted_at":"2024-05-16T18:36:43Z","abstract_excerpt":"We demonstrate the capabilities of an attention-based end-to-end approach for high-speed vision-based quadrotor obstacle avoidance in dense, cluttered environments, with comparison to various state-of-the-art learning architectures. Quadrotor unmanned aerial vehicles (UAVs) have tremendous maneuverability when flown fast; however, as flight speed increases, traditional model-based approaches to navigation via independent perception, mapping, planning, and control modules breaks down due to increased sensor noise, compounding errors, and increased processing latency. Thus, learning-based, end-t"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2405.10391","kind":"arxiv","version":3},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2405.10391/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}