MinNav achieves 70% success navigating static/dynamic obstacles and unknown gaps on tiny aerial robots using only monocular optical flow and active exploration, claimed as the first such solution without prior knowledge.
Avoidbench: A high-fidelity vision-based obstacle avoidance benchmarking suite for multi-rotors.arXiv preprint arXiv:2301.07430, 2023
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A sensorimotor policy with a pre-trained autoencoder perception head and LSTM controller, trained in two stages via privileged learning and curriculum reinforcement learning with domain randomization, achieves zero-shot transfer for outdoor obstacle evasion on unseen environments and platforms.
citing papers explorer
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MinNav: Minimalist Navigation Using Optical Flow For Active Tiny Aerial Robots
MinNav achieves 70% success navigating static/dynamic obstacles and unknown gaps on tiny aerial robots using only monocular optical flow and active exploration, claimed as the first such solution without prior knowledge.
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Vision-Guided Outdoor Flight and Obstacle Evasion via Reinforcement Learning
A sensorimotor policy with a pre-trained autoencoder perception head and LSTM controller, trained in two stages via privileged learning and curriculum reinforcement learning with domain randomization, achieves zero-shot transfer for outdoor obstacle evasion on unseen environments and platforms.